rm_hw::RmRobotHW Class Reference

#include <hardware_interface.h>

Inheritance diagram for rm_hw::RmRobotHW:

Collaboration diagram for rm_hw::RmRobotHW:

Public Member Functions
	RmRobotHW ()=default
bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	Get necessary params from param server. Init hardware_interface.
void	read (const ros::Time &time, const ros::Duration &period) override
	Comunicate with hardware. Get datas, status of robot.
void	write (const ros::Time &time, const ros::Duration &period) override
	Comunicate with hardware. Publish command to robot.
void	setCanBusThreadPriority (int thread_priority)

Constructor & Destructor Documentation

RmRobotHW()

rm_hw::RmRobotHW::RmRobotHW ( )

default

Member Function Documentation

init()

bool rm_hw::RmRobotHW::init ( ros::NodeHandle & root_nh, ros::NodeHandle & robot_hw_nh )

override

Get necessary params from param server. Init hardware_interface.

Get params from param server and check whether these params are set. Load urdf of robot. Set up transmission and joint limit. Get configuration of can bus and create data pointer which point to data received from Can bus.

Parameters

root_nh	Root node-handle of a ROS node.
robot_hw_nh	Node-handle for robot hardware.

Returns

True when init successful, False when failed.

read()

void rm_hw::RmRobotHW::read ( const ros::Time & time, const ros::Duration & period )

override

Comunicate with hardware. Get datas, status of robot.

Call rm_hw::CanBus::read(). Check whether temperature of actuator is too high and whether actuator is offline. Propagate actuator state to joint state for the stored transmission. Set all cmd to zero to avoid crazy soft limit oscillation when not controller loaded(all controllers update after read()).

Parameters

time	Current time
period	Current time - last time

setCanBusThreadPriority()

void rm_hw::RmRobotHW::setCanBusThreadPriority

(

int

thread_priority

)

write()

void rm_hw::RmRobotHW::write ( const ros::Time & time, const ros::Duration & period )

override

Comunicate with hardware. Publish command to robot.

Propagate joint state to actuator state for the stored transmission. Limit cmd_effort into suitable value. Call rm_hw::CanBus::write(). Publish actuator current state.

Parameters

time	Current time
period	Current time - last time

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

• rm_hw/include/rm_hw/hardware_interface/hardware_interface.h
• rm_hw/src/hardware_interface/hardware_interface.cpp
• rm_hw/src/hardware_interface/parse.cpp