Contains the main for the real arm. We start the publishers / subscribers in this node. They all share the same RealArm object, this way the subscriber can update the arm properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies. More...
#include <ros/ros.h>#include <boost/thread/thread.hpp>#include <boost/smart_ptr.hpp>#include "sr_hand/sr_subscriber.h"#include "sr_hand/sr_publisher.h"#include "sr_hand/sr_diagnosticer.h"#include "sr_hand/hand/real_arm.h"
Go to the source code of this file.
Functions | |
| int | main (int argc, char **argv) |
| void | run_diagnotics (boost::shared_ptr< SRDiagnosticer > shadowhand_diag) |
| void | run_publisher (boost::shared_ptr< SRPublisher > shadowhand_pub) |
Detailed Description
Contains the main for the real arm. We start the publishers / subscribers in this node. They all share the same RealArm object, this way the subscriber can update the arm properties, while the publishers publish up to date data. The diagnostics and the other publisher are started in two different threads, to allow them to be published at different frequencies.
- Date
- Tue Jun 29 14:56:10 2010
Definition in file real_arm_node.cpp.
Function Documentation
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
The main function initialises this ROS subscriber and sets the different callbacks. This ROS subscriber will listen for new commands and send them to the real robot.
- Parameters
-
argc argv
- Returns
- 0 on success
Definition at line 79 of file real_arm_node.cpp.
◆ run_diagnotics()
| void run_diagnotics | ( | boost::shared_ptr< SRDiagnosticer > | shadowhand_diag | ) |
Definition at line 52 of file real_arm_node.cpp.
◆ run_publisher()
| void run_publisher | ( | boost::shared_ptr< SRPublisher > | shadowhand_pub | ) |
Definition at line 60 of file real_arm_node.cpp.