Inheritance diagram for arm::ArmNodelet:

Public Types
enum	: FSM::Event { READY = (1<<0), DEPLOYED = (1<<1), STOWED = (1<<2), GOAL_DEPLOY = (1<<3), GOAL_STOW = (1<<4), GOAL_MOVE = (1<<5), GOAL_SET = (1<<6), GOAL_DISABLE = (1<<7), GOAL_CANCEL = (1<<8), PAN_COMPLETE = (1<<9), TILT_COMPLETE = (1<<10), GRIPPER_COMPLETE = (1<<11), TIMEOUT = (1<<12), MANUAL_STATE_SET = (1<<13) }

Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Public Member Functions
	ArmNodelet ()

	~ArmNodelet ()

Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)

	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)

virtual	~FreeFlyerNodelet ()

void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())

void	ClearAllFaults ()

void	ClearFault (FaultKeys enum_key)

void	PrintFaults ()

ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)

ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)

std::string	GetName ()

std::string	GetPlatform ()

std::string	GetTransform (std::string const &child)

Protected Member Functions
void	Initialize (ros::NodeHandle *nh)

bool	ReconfigureCallback (dynamic_reconfigure::Config &config)

void	UpdateCallback (FSM::State const &state, FSM::Event const &event)

int32_t	Result (int32_t response, bool send=false)

bool	SetStateCallback (ff_msgs::SetState::Request &req, ff_msgs::SetState::Response &res)

bool	Equal (JointType t, double v)

bool	IsStowed ()

bool	RequiresClosing ()

bool	Arm (JointType type)

void	JointStateCallback (sensor_msgs::JointState::ConstPtr const &msg)

void	TimeoutCallback (ros::TimerEvent const &event)

void	WatchdogCallback (ros::TimerEvent const &event)

void	GoalCallback (ff_msgs::ArmGoalConstPtr const &goal)

void	PreemptCallback ()

void	CancelCallback ()

bool	CalibrateGripper (void)

bool	EnableServo (ServoID servo_number, bool servo_enable)

Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Reset ()

virtual void	Sleep ()

virtual void	Wakeup ()

void	StopHeartbeat ()

void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)

void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Protected Attributes
ff_util::FSM	fsm_

ff_util::ConfigServer	cfg_

ff_util::FreeFlyerActionServer< ff_msgs::ArmAction >	server_

JointMap	joints_

JointDictionary	dictionary_

ros::Timer	timer_goal_

ros::Timer	timer_watchdog_

ros::Publisher	pub_state_

ros::ServiceServer	srv_set_state_

ros::Subscriber	sub_joint_states_

ros::Publisher	pub_joint_goals_

ros::Publisher	pub_arm_state_

ros::Publisher	pub_joint_sample_

ros::ServiceClient	client_enable_prox_servo_

ros::ServiceClient	client_enable_dist_servo_

ros::ServiceClient	client_enable_grip_servo_

ros::ServiceClient	client_calibrate_gripper_

bool	calibrated_ = false

bool	goal_stow_ = false

bool	goal_set_ = false

Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Static Protected Attributes
static constexpr double	K_PAN_OFFSET = 0.0

static constexpr double	K_PAN_MIN = -90.0

static constexpr double	K_PAN_MAX = 90.0

static constexpr double	K_PAN_STOW = 0.0

static constexpr double	K_PAN_DEPLOY = 0.0

static constexpr double	K_TILT_OFFSET = 90.0

static constexpr double	K_TILT_MIN = -20.0

static constexpr double	K_TILT_MAX = 180.0

static constexpr double	K_TILT_STOW = 180.0

static constexpr double	K_TILT_DEPLOY = 0.0

static constexpr double	K_TILT_SAFE = 90.0

static constexpr double	K_TILT_GRIP = 160.0

static constexpr double	K_GRIPPER_STOW = 0.0

static constexpr double	K_GRIPPER_DEPLOY = 0.0

static constexpr double	K_GRIPPER_OPEN = 100.0

static constexpr double	K_GRIPPER_CLOSE = 0.0

static constexpr double	K_RADS_TO_DEGS = 180.0 / M_PI

static constexpr double	K_DEGS_TO_RADS = M_PI / 180.0

Member Enumeration Documentation

◆ anonymous enum

anonymous enum : FSM::Event

Enumerator
READY
DEPLOYED
STOWED
GOAL_DEPLOY
GOAL_STOW
GOAL_MOVE
GOAL_SET
GOAL_DISABLE
GOAL_CANCEL
PAN_COMPLETE
TILT_COMPLETE
GRIPPER_COMPLETE
TIMEOUT
MANUAL_STATE_SET

Constructor & Destructor Documentation

◆ ArmNodelet()

arm::ArmNodelet::ArmNodelet ( )

inline

◆ ~ArmNodelet()

arm::ArmNodelet::~ArmNodelet ( )

inline

Member Function Documentation

◆ Arm()

bool arm::ArmNodelet::Arm ( JointType type )

inlineprotected

◆ CalibrateGripper()

bool arm::ArmNodelet::CalibrateGripper ( void )

inlineprotected

◆ CancelCallback()

void arm::ArmNodelet::CancelCallback ( )

inlineprotected

◆ EnableServo()

bool arm::ArmNodelet::EnableServo	(	ServoID	servo_number,
		bool	servo_enable
	)

inlineprotected

◆ Equal()

bool arm::ArmNodelet::Equal	(	JointType	t,
		double	v
	)

inlineprotected

◆ GoalCallback()

void arm::ArmNodelet::GoalCallback ( ff_msgs::ArmGoalConstPtr const & goal )

inlineprotected

◆ Initialize()

void arm::ArmNodelet::Initialize ( ros::NodeHandle * nh )

inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ IsStowed()

bool arm::ArmNodelet::IsStowed ( )

inlineprotected

◆ JointStateCallback()

void arm::ArmNodelet::JointStateCallback ( sensor_msgs::JointState::ConstPtr const & msg )

inlineprotected

◆ PreemptCallback()

void arm::ArmNodelet::PreemptCallback ( )

inlineprotected

◆ ReconfigureCallback()

bool arm::ArmNodelet::ReconfigureCallback ( dynamic_reconfigure::Config & config )

inlineprotected

◆ RequiresClosing()

bool arm::ArmNodelet::RequiresClosing ( )

inlineprotected

◆ Result()

int32_t arm::ArmNodelet::Result	(	int32_t	response,
		bool	send = `false`
	)

inlineprotected

◆ SetStateCallback()

bool arm::ArmNodelet::SetStateCallback	(	ff_msgs::SetState::Request &	req,
		ff_msgs::SetState::Response &	res
	)

inlineprotected

◆ TimeoutCallback()

void arm::ArmNodelet::TimeoutCallback ( ros::TimerEvent const & event )

inlineprotected

◆ UpdateCallback()

void arm::ArmNodelet::UpdateCallback	(	FSM::State const &	state,
		FSM::Event const &	event
	)

inlineprotected

◆ WatchdogCallback()

void arm::ArmNodelet::WatchdogCallback ( ros::TimerEvent const & event )

inlineprotected

Member Data Documentation

◆ calibrated_

bool arm::ArmNodelet::calibrated_ = false

protected

◆ cfg_

ff_util::ConfigServer arm::ArmNodelet::cfg_

protected

◆ client_calibrate_gripper_

ros::ServiceClient arm::ArmNodelet::client_calibrate_gripper_

protected

◆ client_enable_dist_servo_

ros::ServiceClient arm::ArmNodelet::client_enable_dist_servo_

protected

◆ client_enable_grip_servo_

ros::ServiceClient arm::ArmNodelet::client_enable_grip_servo_

protected

◆ client_enable_prox_servo_

ros::ServiceClient arm::ArmNodelet::client_enable_prox_servo_

protected

◆ dictionary_

JointDictionary arm::ArmNodelet::dictionary_

protected

◆ fsm_

ff_util::FSM arm::ArmNodelet::fsm_

protected

◆ goal_set_

bool arm::ArmNodelet::goal_set_ = false

protected

◆ goal_stow_

bool arm::ArmNodelet::goal_stow_ = false

protected

◆ joints_

JointMap arm::ArmNodelet::joints_

protected

◆ K_DEGS_TO_RADS

constexpr double arm::ArmNodelet::K_DEGS_TO_RADS = M_PI / 180.0

staticconstexprprotected

◆ K_GRIPPER_CLOSE

constexpr double arm::ArmNodelet::K_GRIPPER_CLOSE = 0.0

staticconstexprprotected

◆ K_GRIPPER_DEPLOY

constexpr double arm::ArmNodelet::K_GRIPPER_DEPLOY = 0.0

staticconstexprprotected

◆ K_GRIPPER_OPEN

constexpr double arm::ArmNodelet::K_GRIPPER_OPEN = 100.0

staticconstexprprotected

◆ K_GRIPPER_STOW

constexpr double arm::ArmNodelet::K_GRIPPER_STOW = 0.0

staticconstexprprotected

◆ K_PAN_DEPLOY

constexpr double arm::ArmNodelet::K_PAN_DEPLOY = 0.0

staticconstexprprotected

◆ K_PAN_MAX

constexpr double arm::ArmNodelet::K_PAN_MAX = 90.0

staticconstexprprotected

◆ K_PAN_MIN

constexpr double arm::ArmNodelet::K_PAN_MIN = -90.0

staticconstexprprotected

◆ K_PAN_OFFSET

constexpr double arm::ArmNodelet::K_PAN_OFFSET = 0.0

staticconstexprprotected

◆ K_PAN_STOW

constexpr double arm::ArmNodelet::K_PAN_STOW = 0.0

staticconstexprprotected

◆ K_RADS_TO_DEGS

constexpr double arm::ArmNodelet::K_RADS_TO_DEGS = 180.0 / M_PI

staticconstexprprotected

◆ K_TILT_DEPLOY

constexpr double arm::ArmNodelet::K_TILT_DEPLOY = 0.0

staticconstexprprotected

◆ K_TILT_GRIP

constexpr double arm::ArmNodelet::K_TILT_GRIP = 160.0

staticconstexprprotected

◆ K_TILT_MAX

constexpr double arm::ArmNodelet::K_TILT_MAX = 180.0

staticconstexprprotected

◆ K_TILT_MIN

constexpr double arm::ArmNodelet::K_TILT_MIN = -20.0

staticconstexprprotected

◆ K_TILT_OFFSET

constexpr double arm::ArmNodelet::K_TILT_OFFSET = 90.0

staticconstexprprotected

◆ K_TILT_SAFE

constexpr double arm::ArmNodelet::K_TILT_SAFE = 90.0

staticconstexprprotected

◆ K_TILT_STOW

constexpr double arm::ArmNodelet::K_TILT_STOW = 180.0

staticconstexprprotected

◆ pub_arm_state_

ros::Publisher arm::ArmNodelet::pub_arm_state_

protected

◆ pub_joint_goals_

ros::Publisher arm::ArmNodelet::pub_joint_goals_

protected

◆ pub_joint_sample_

ros::Publisher arm::ArmNodelet::pub_joint_sample_

protected

◆ pub_state_

ros::Publisher arm::ArmNodelet::pub_state_

protected

◆ server_

ff_util::FreeFlyerActionServer<ff_msgs::ArmAction> arm::ArmNodelet::server_

protected

◆ srv_set_state_

ros::ServiceServer arm::ArmNodelet::srv_set_state_

protected

◆ sub_joint_states_

ros::Subscriber arm::ArmNodelet::sub_joint_states_

protected

◆ timer_goal_

ros::Timer arm::ArmNodelet::timer_goal_

protected

◆ timer_watchdog_

ros::Timer arm::ArmNodelet::timer_watchdog_

protected

The documentation for this class was generated from the following file:

behaviors/arm/src/arm_nodelet.cc

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ArmNodelet()

◆ ~ArmNodelet()

Member Function Documentation

◆ Arm()

◆ CalibrateGripper()

◆ CancelCallback()

◆ EnableServo()

◆ Equal()

◆ GoalCallback()

◆ Initialize()

◆ IsStowed()

◆ JointStateCallback()

◆ PreemptCallback()

◆ ReconfigureCallback()

◆ RequiresClosing()

◆ Result()

◆ SetStateCallback()

◆ TimeoutCallback()

◆ UpdateCallback()

◆ WatchdogCallback()

Member Data Documentation

◆ calibrated_

◆ cfg_

◆ client_calibrate_gripper_

◆ client_enable_dist_servo_

◆ client_enable_grip_servo_

◆ client_enable_prox_servo_

◆ dictionary_

◆ fsm_

◆ goal_set_

◆ goal_stow_

◆ joints_

◆ K_DEGS_TO_RADS

◆ K_GRIPPER_CLOSE

◆ K_GRIPPER_DEPLOY

◆ K_GRIPPER_OPEN

◆ K_GRIPPER_STOW

◆ K_PAN_DEPLOY

◆ K_PAN_MAX

◆ K_PAN_MIN

◆ K_PAN_OFFSET

◆ K_PAN_STOW

◆ K_RADS_TO_DEGS

◆ K_TILT_DEPLOY

◆ K_TILT_GRIP

◆ K_TILT_MAX

◆ K_TILT_MIN

◆ K_TILT_OFFSET

◆ K_TILT_SAFE

◆ K_TILT_STOW

◆ pub_arm_state_

◆ pub_joint_goals_

◆ pub_joint_sample_

◆ pub_state_

◆ server_

◆ srv_set_state_

◆ sub_joint_states_

◆ timer_goal_

◆ timer_watchdog_