#include <ros/ros.h>#include <string>#include <std_msgs/Float32.h>#include <std_msgs/String.h>#include <std_msgs/Bool.h>#include <Grijper/command.h>#include <threemxl/C3mxlROS.h>
Go to the source code of this file.
Functions | |
| float | calc_current (float force) |
| Conversion method to convert a target force into a current. More... | |
| bool | close () |
| Small controlling method for closing the gripper. More... | |
| void | gripperControl (const Grijper::command::ConstPtr &msg) |
| This method controls the motor. More... | |
| int | main (int argc, char **argv) |
| Main method of this node. All commands are evaluated here, and motor actuation is controlled from here. More... | |
| bool | open () |
| Small controlling method for opening the gripper. More... | |
| bool | relax () |
| Small controlling method for relaxing the gripper. More... | |
| void | shutdown (const std_msgs::Bool::ConstPtr &b) |
| Controll method to shutdown this ROS node when the command is given. More... | |
Variables | |
| float | current = 0.04 |
| ros::Publisher | gripper_state |
| CDxlGeneric * | motor_ |
| float calc_current | ( | float | force | ) |
Conversion method to convert a target force into a current.
Converts a target force into a current that can be passed on to the motor.
| force | The target force as a float. |
Definition at line 128 of file gripper_actuator.cpp.
| bool close | ( | ) |
Small controlling method for closing the gripper.
This method closes the gripper with the corresponding force.
Definition at line 99 of file gripper_actuator.cpp.
| void gripperControl | ( | const Grijper::command::ConstPtr & | msg | ) |
This method controls the motor.
This method is called every time a command from the controller has been given. This command is evaluated and executed. The msg parameter contains the 'cmd' string describing the command to be executed and also a 'force' float that indicates the target force. This target force is converted to a current, which is passed in to the motor, with a sign and magnitude according to the command.
| msg | The message containing the command and target force. |
Definition at line 63 of file gripper_actuator.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Main method of this node. All commands are evaluated here, and motor actuation is controlled from here.
This method controls the motor powering the gripper. This also meand publishing the gripper state when it has changed.
This node also listens to the shutdown command given by the controller.
Definition at line 28 of file gripper_actuator.cpp.
| bool open | ( | ) |
Small controlling method for opening the gripper.
This method opens the gripper with the corresponding force.
Definition at line 85 of file gripper_actuator.cpp.
| bool relax | ( | ) |
Small controlling method for relaxing the gripper.
This method relaxed the gripper.
Definition at line 113 of file gripper_actuator.cpp.
| void shutdown | ( | const std_msgs::Bool::ConstPtr & | b | ) |
Controll method to shutdown this ROS node when the command is given.
This method will shutdown this node when the command is given by the console.
| b | The message containing the command. Nothing is done with the command since we know what it will be when this message is received. |
Definition at line 137 of file gripper_actuator.cpp.
| float current = 0.04 |
Target current variable, default is set to 0.04.
Definition at line 18 of file gripper_actuator.cpp.
| ros::Publisher gripper_state |
Gripper state publisher.
Definition at line 12 of file gripper_actuator.cpp.
| CDxlGeneric* motor_ |
Threemxl generic motor controller pointer.
Definition at line 19 of file gripper_actuator.cpp.