NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Protected Types | Protected Member Functions | List of all members
perching_arm::PerchingArmNode Class Reference
Inheritance diagram for perching_arm::PerchingArmNode:
Inheritance graph

Public Member Functions

 PerchingArmNode ()
 
 ~PerchingArmNode ()
 
- 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 Types

enum  ConversionType {
  POSITION, VELOCITY, PERCENTAGE, POWER,
  GRIPPER_L_PROX, GRIPPER_L_DIST, GRIPPER_R_PROX, GRIPPER_R_DIST
}
 

Protected Member Functions

void Initialize (ros::NodeHandle *nh)
 
int16_t CnvTo (ConversionType type, double value)
 
double CnvFrom (ConversionType type, int32_t value)
 
void SleepCallback (uint32_t ms)
 
void DataCallback (PerchingArmRaw const &raw)
 
void GoalCallback (sensor_msgs::JointState const &msg)
 
bool EnableArmCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)
 
bool SetDistVelCallback (ff_hw_msgs::SetJointMaxVelocity::Request &req, ff_hw_msgs::SetJointMaxVelocity::Response &res)
 
bool SetProxVelCallback (ff_hw_msgs::SetJointMaxVelocity::Request &req, ff_hw_msgs::SetJointMaxVelocity::Response &res)
 
bool EnableProximalServoCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)
 
bool EnableDistalServoCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)
 
bool EnableGripperServoCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)
 
bool CalibrateGripperCallback (ff_hw_msgs::CalibrateGripper::Request &req, ff_hw_msgs::CalibrateGripper::Response &res)
 
- 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)
 

Additional Inherited Members

- Public Types inherited from ff_util::FreeFlyerNodelet
enum  ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }
 
- Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int > faults_
 

Member Enumeration Documentation

◆ ConversionType

enum perching_arm::PerchingArmNode::ConversionType
protected
Enumerator
POSITION 
VELOCITY 
PERCENTAGE 
POWER 
GRIPPER_L_PROX 
GRIPPER_L_DIST 
GRIPPER_R_PROX 
GRIPPER_R_DIST 

Constructor & Destructor Documentation

◆ PerchingArmNode()

perching_arm::PerchingArmNode::PerchingArmNode ( )
inline

◆ ~PerchingArmNode()

perching_arm::PerchingArmNode::~PerchingArmNode ( )
inline

Member Function Documentation

◆ CalibrateGripperCallback()

bool perching_arm::PerchingArmNode::CalibrateGripperCallback ( ff_hw_msgs::CalibrateGripper::Request &  req,
ff_hw_msgs::CalibrateGripper::Response &  res 
)
inlineprotected

◆ CnvFrom()

double perching_arm::PerchingArmNode::CnvFrom ( ConversionType  type,
int32_t  value 
)
inlineprotected

◆ CnvTo()

int16_t perching_arm::PerchingArmNode::CnvTo ( ConversionType  type,
double  value 
)
inlineprotected

◆ DataCallback()

void perching_arm::PerchingArmNode::DataCallback ( PerchingArmRaw const &  raw)
inlineprotected

◆ EnableArmCallback()

bool perching_arm::PerchingArmNode::EnableArmCallback ( ff_hw_msgs::SetEnabled::Request &  req,
ff_hw_msgs::SetEnabled::Response &  res 
)
inlineprotected

◆ EnableDistalServoCallback()

bool perching_arm::PerchingArmNode::EnableDistalServoCallback ( ff_hw_msgs::SetEnabled::Request &  req,
ff_hw_msgs::SetEnabled::Response &  res 
)
inlineprotected

◆ EnableGripperServoCallback()

bool perching_arm::PerchingArmNode::EnableGripperServoCallback ( ff_hw_msgs::SetEnabled::Request &  req,
ff_hw_msgs::SetEnabled::Response &  res 
)
inlineprotected

◆ EnableProximalServoCallback()

bool perching_arm::PerchingArmNode::EnableProximalServoCallback ( ff_hw_msgs::SetEnabled::Request &  req,
ff_hw_msgs::SetEnabled::Response &  res 
)
inlineprotected

◆ GoalCallback()

void perching_arm::PerchingArmNode::GoalCallback ( sensor_msgs::JointState const &  msg)
inlineprotected

◆ Initialize()

void perching_arm::PerchingArmNode::Initialize ( ros::NodeHandle *  nh)
inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ SetDistVelCallback()

bool perching_arm::PerchingArmNode::SetDistVelCallback ( ff_hw_msgs::SetJointMaxVelocity::Request &  req,
ff_hw_msgs::SetJointMaxVelocity::Response &  res 
)
inlineprotected

◆ SetProxVelCallback()

bool perching_arm::PerchingArmNode::SetProxVelCallback ( ff_hw_msgs::SetJointMaxVelocity::Request &  req,
ff_hw_msgs::SetJointMaxVelocity::Response &  res 
)
inlineprotected

◆ SleepCallback()

void perching_arm::PerchingArmNode::SleepCallback ( uint32_t  ms)
inlineprotected
The documentation for this class was generated from the following file: