A class to control and distribute motor position, velocity and torque information. More...

#include <motor_interface.h>

Collaboration diagram for MotorInterface:

Public Member Functions
	MotorInterface ()
	Default Constructor. More...

	MotorInterface (const int &_num_motors)
	Custom Constructor. More...

virtual	~MotorInterface ()
	Destructor. More...

void	SetJointPositions (const std::vector< double > &_pos)
	Set the position of the joints. More...

void	SetJointVelocities (const std::vector< double > &_vel)
	Set the velocity of the joints. More...

void	SetJointTorques (const std::vector< double > &_torque)
	Set the torque of the joints. More...

void	ProcessSerialMessages ()
	Checks if there are any incomming messages from the serial ports. If there are new replies these are read and published. More...

void	OnJointStateCmdMsg (const sensor_msgs::JointStateConstPtr &_msg)
	The OnGenCoordMsg function handles an incoming generalized coordinates message from ROS. More...

void	SerialProcessQueueThread ()
	The SerialProcessQueueThread function is a helper function that processes serial messages. More...

void	RosProcessQueueThread ()
	The RosProcessQueueThread function is a ROS helper function that processes messages. More...

void	RosPublishQueueThread ()
	The RosPublishQueueThread function is a ROS helper function that publish state messages. More...

bool	Shutdown (const std_srvs::Empty::Request &_req, std_srvs::Empty::Response &_res)
	The Shutdown function handles an incoming shutdown service request. More...

Protected Member Functions
void	InitRos ()
	The InitRos function is called to initialize ROS. More...

void	InitRosQueueThreads ()
	The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads. More...

Private Attributes
const int	NUM_MOTORS
	The number of motors to interface with. More...

int	num_motors_port_1
	The number of motors interfaced by the first Teensy. More...

int	num_motors_port_2
	The number of motors interfaced by the second Teensy. More...

SerialCommunication	serialInterface1
	The serial interface used to communicate with the first Teensy. More...

SerialCommunication	serialInterface2
	The serial interface used to communicate with the second Teensy. More...

std::unique_ptr< ros::NodeHandle >	rosNode
	Node used for ROS transport. More...

sensor_msgs::JointState	jointStateMsg
	Joint State Message. More...

ros::ServiceServer	shutdownService
	ROS Shutdown Service. More...

ros::Subscriber	jointStateCmdSub
	ROS Joint State Command Subscriber. More...

ros::Publisher	jointStatePub
	ROS Joint State Publisher. More...

ros::CallbackQueue	rosProcessQueue
	ROS callbackque that helps process messages. More...

ros::CallbackQueue	rosPublishQueue
	ROS callbackque that helps publish messages. More...

std::thread	serialProcessQueueThread
	Thread running the serialProcessQueue. More...

std::thread	rosProcessQueueThread
	Thread running the rosProcessQueue. More...

std::thread	rosPublishQueueThread
	Thread running the rosPublishQueue. More...

Static Private Attributes
static constexpr int	MAX_NUM_MOTORS_PER_PORT = 6
	The maximum numbers of motors to be interfaced with by one Teensy. More...

Detailed Description

A class to control and distribute motor position, velocity and torque information.

Definition at line 48 of file motor_interface.h.

Constructor & Destructor Documentation

◆ MotorInterface() [1/2]

MotorInterface::MotorInterface ( )

Default Constructor.

Definition at line 30 of file motor_interface.cpp.

◆ MotorInterface() [2/2]

MotorInterface::MotorInterface ( const int & _num_motors )

Custom Constructor.

Parameters

[in] _num_motors Number of motors in use.

Definition at line 44 of file motor_interface.cpp.

◆ ~MotorInterface()

MotorInterface::~MotorInterface ( )

virtual

Destructor.

Definition at line 83 of file motor_interface.cpp.

Member Function Documentation

◆ SetJointPositions()

void MotorInterface::SetJointPositions ( const std::vector< double > & _pos )

Set the position of the joints.

Parameters

[in] _pos New target position vector in radians

Definition at line 96 of file motor_interface.cpp.

◆ SetJointVelocities()

void MotorInterface::SetJointVelocities ( const std::vector< double > & _vel )

Set the velocity of the joints.

Parameters

[in] _vel New target velocity

Definition at line 112 of file motor_interface.cpp.

◆ SetJointTorques()

void MotorInterface::SetJointTorques ( const std::vector< double > & _torque )

Set the torque of the joints.

Parameters

[in] _torque New target torque

Definition at line 128 of file motor_interface.cpp.

◆ ProcessSerialMessages()

void MotorInterface::ProcessSerialMessages ( )

Checks if there are any incomming messages from the serial ports. If there are new replies these are read and published.

Definition at line 144 of file motor_interface.cpp.

◆ OnJointStateCmdMsg()

void MotorInterface::OnJointStateCmdMsg ( const sensor_msgs::JointStateConstPtr & _msg )

The OnGenCoordMsg function handles an incoming generalized coordinates message from ROS.

Parameters

[in] _msg A float array containing the generalized coordinates.

Definition at line 192 of file motor_interface.cpp.

◆ SerialProcessQueueThread()

void MotorInterface::SerialProcessQueueThread ( )

The SerialProcessQueueThread function is a helper function that processes serial messages.

Definition at line 215 of file motor_interface.cpp.

◆ RosProcessQueueThread()

void MotorInterface::RosProcessQueueThread ( )

The RosProcessQueueThread function is a ROS helper function that processes messages.

Definition at line 228 of file motor_interface.cpp.

◆ RosPublishQueueThread()

void MotorInterface::RosPublishQueueThread ( )

The RosPublishQueueThread function is a ROS helper function that publish state messages.

Definition at line 238 of file motor_interface.cpp.

◆ Shutdown()

bool MotorInterface::Shutdown	(	const std_srvs::Empty::Request &	_req,
		std_srvs::Empty::Response &	_res
	)

The Shutdown function handles an incoming shutdown service request.

Parameters

[in]	_req	Service request.
[out]	_res	Service response.

Returns: Returns true if success, and false if not.

Definition at line 251 of file motor_interface.cpp.

◆ InitRos()

void MotorInterface::InitRos ( )

protected

The InitRos function is called to initialize ROS.

Definition at line 260 of file motor_interface.cpp.

◆ InitRosQueueThreads()

void MotorInterface::InitRosQueueThreads ( )

protected

The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads.

Definition at line 316 of file motor_interface.cpp.

Member Data Documentation

◆ MAX_NUM_MOTORS_PER_PORT

constexpr int MotorInterface::MAX_NUM_MOTORS_PER_PORT = 6

staticconstexprprivate

The maximum numbers of motors to be interfaced with by one Teensy.

Definition at line 51 of file motor_interface.h.

◆ NUM_MOTORS

const int MotorInterface::NUM_MOTORS

private

The number of motors to interface with.

Definition at line 113 of file motor_interface.h.

◆ num_motors_port_1

int MotorInterface::num_motors_port_1

private

The number of motors interfaced by the first Teensy.

Definition at line 116 of file motor_interface.h.

◆ num_motors_port_2

int MotorInterface::num_motors_port_2

private

The number of motors interfaced by the second Teensy.

Definition at line 119 of file motor_interface.h.

◆ serialInterface1

SerialCommunication MotorInterface::serialInterface1

private

The serial interface used to communicate with the first Teensy.

Definition at line 122 of file motor_interface.h.

◆ serialInterface2

SerialCommunication MotorInterface::serialInterface2

private

The serial interface used to communicate with the second Teensy.

Definition at line 125 of file motor_interface.h.

◆ rosNode

std::unique_ptr<ros::NodeHandle> MotorInterface::rosNode

private

Node used for ROS transport.

Definition at line 128 of file motor_interface.h.

◆ jointStateMsg

sensor_msgs::JointState MotorInterface::jointStateMsg

private

Joint State Message.

Definition at line 131 of file motor_interface.h.

◆ shutdownService

ros::ServiceServer MotorInterface::shutdownService

private

ROS Shutdown Service.

Definition at line 134 of file motor_interface.h.

◆ jointStateCmdSub

ros::Subscriber MotorInterface::jointStateCmdSub

private

ROS Joint State Command Subscriber.

Definition at line 137 of file motor_interface.h.

◆ jointStatePub

ros::Publisher MotorInterface::jointStatePub

private

ROS Joint State Publisher.

Definition at line 140 of file motor_interface.h.

◆ rosProcessQueue

ros::CallbackQueue MotorInterface::rosProcessQueue

private

ROS callbackque that helps process messages.

Definition at line 143 of file motor_interface.h.

◆ rosPublishQueue

ros::CallbackQueue MotorInterface::rosPublishQueue

private

ROS callbackque that helps publish messages.

Definition at line 146 of file motor_interface.h.

◆ serialProcessQueueThread

std::thread MotorInterface::serialProcessQueueThread

private

Thread running the serialProcessQueue.

Definition at line 149 of file motor_interface.h.

◆ rosProcessQueueThread

std::thread MotorInterface::rosProcessQueueThread

private

Thread running the rosProcessQueue.

Definition at line 152 of file motor_interface.h.

◆ rosPublishQueueThread

std::thread MotorInterface::rosPublishQueueThread

private

Thread running the rosPublishQueue.

Definition at line 155 of file motor_interface.h.

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

catkin_ws/src/hardware/actuators/include/actuators/motor_interface.h
catkin_ws/src/hardware/actuators/src/motor_interface.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MotorInterface() [1/2]

◆ MotorInterface() [2/2]

◆ ~MotorInterface()

Member Function Documentation

◆ SetJointPositions()

◆ SetJointVelocities()

◆ SetJointTorques()

◆ ProcessSerialMessages()

◆ OnJointStateCmdMsg()

◆ SerialProcessQueueThread()

◆ RosProcessQueueThread()

◆ RosPublishQueueThread()

◆ Shutdown()

◆ InitRos()

◆ InitRosQueueThreads()

Member Data Documentation

◆ MAX_NUM_MOTORS_PER_PORT

◆ NUM_MOTORS

◆ num_motors_port_1

◆ num_motors_port_2

◆ serialInterface1

◆ serialInterface2

◆ rosNode

◆ jointStateMsg

◆ shutdownService

◆ jointStateCmdSub

◆ jointStatePub

◆ rosProcessQueue

◆ rosPublishQueue

◆ serialProcessQueueThread

◆ rosProcessQueueThread

◆ rosPublishQueueThread