mia_hand_driver
rel 1.0.0
|
#include <ros_driver.h>
Public Member Functions | |
ROSDriver (ros::NodeHandle &nh, ros::NodeHandle &nh_priv) | |
Class constructor. More... | |
Private Member Functions | |
void | publishDataTmrCallback (const ros::WallTimerEvent &event) |
Callback of the publish_data_tmr_ timer. More... | |
void | checkConnectionTmrCallback (const ros::WallTimerEvent &event) |
Callback of the check_connection_tmr_ timer. More... | |
void | initPublishers () |
Initialize publishers. More... | |
void | initSubscribersThu () |
Initialize subscribers of the thumb flexion motor info. More... | |
void | initSubscribersInd () |
Initialize subscribers of the index flexion motor info. More... | |
void | initSubscribersMrl () |
Initialize subscribers of the index mrl motor info. More... | |
void | initSubscribersGrasp () |
Initialize subscribers of the automatic grasp info. More... | |
void | initServices () |
Initialize services. More... | |
void | thuMotTrgtPosCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber thu_mot_trgt_pos_. More... | |
void | indMotTrgtPosCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber ind_mot_trgt_pos_. More... | |
void | mrlMotTrgtPosCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber mrl_mot_trgt_pos_. More... | |
void | thuMotTrgtSpeCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber thu_mot_trgt_spe_. More... | |
void | indMotTrgtSpeCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber ind_mot_trgt_spe_. More... | |
void | mrlMotTrgtSpeCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber mrl_mot_trgt_spe_. More... | |
void | thuFinTrgtForCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber thu_fin_trgt_for_. More... | |
void | indFinTrgtForCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber ind_fin_trgt_for_. More... | |
void | mrlFinTrgtForCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber mrl_fin_trgt_for_. More... | |
void | thuCylGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber thu_cyl_grasp_ref_. More... | |
void | thuPinGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber thu_pin_grasp_ref_. More... | |
void | thuLatGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber thu_lat_grasp_ref_. More... | |
void | thuSphGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber thu_sph_grasp_ref_. More... | |
void | thuTriGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber thu_sph_grasp_ref_. More... | |
void | indCylGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber ind_cyl_grasp_ref_. More... | |
void | indPinGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber ind_pin_grasp_ref_. More... | |
void | indLatGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber ind_lat_grasp_ref_. More... | |
void | indSphGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber ind_sph_grasp_ref_. More... | |
void | indTriGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber ind_tri_grasp_ref_. More... | |
void | mrlCylGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber #mrl_cyl_grasp_ref. More... | |
void | mrlPinGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber #mrl_pin_grasp_ref. More... | |
void | mrlLatGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber #mrl_lat_grasp_ref. More... | |
void | mrlSphGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber #mrl_sph_grasp_ref. More... | |
void | mrlTriGraspRefCallback (const mia_hand_msgs::GraspRef::ConstPtr &msg) |
Callback of the subscriber #mrl_tri_grasp_ref. More... | |
void | cylGraspPercentCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber cyl_grasp_percent_. More... | |
void | pinGraspPercentCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber pin_grasp_percent_. More... | |
void | latGraspPercentCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber lat_grasp_percent_. More... | |
void | sphGraspPercentCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber sph_grasp_percent_. More... | |
void | triGraspPercentCallback (const std_msgs::Int16::ConstPtr &msg) |
Callback of the subscriber tri_grasp_percent_. More... | |
bool | connectToPortCallback (mia_hand_msgs::ConnectSerial::Request &req, mia_hand_msgs::ConnectSerial::Response &resp) |
Callback of the service connect_to_port_. More... | |
bool | disconnectCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp) |
Callback of the service disconnect_. More... | |
bool | switchPosStreamCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp) |
Callback of the service switch_pos_stream_. More... | |
bool | switchSpeStreamCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp) |
Callback of the service switch_spe_stream_. More... | |
bool | switchAnaStreamCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp) |
Callback of the service switch_ana_stream_. More... | |
bool | switchCurStreamCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp) |
Callback of the service switch_cur_stream_. More... | |
bool | openCylGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service open_cyl_grasp_. More... | |
bool | openPinGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service open_pin_grasp_. More... | |
bool | openLatGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service open_lat_grasp_. More... | |
bool | openSphGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service open_sph_grasp_. More... | |
bool | openTriGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service open_tri_grasp_. More... | |
bool | closeCylGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service close_cyl_grasp_. More... | |
bool | closePinGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service close_pin_grasp_. More... | |
bool | closeLatGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service close_lat_grasp_. More... | |
bool | closeSphGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service close_sph_grasp_. More... | |
bool | closeTriGraspCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
Callback of the service close_tri_grasp_. More... | |
Private Attributes | |
CppDriver | mia_ |
Cpp driver of the Mia hand. More... | |
bool | is_connected_ |
True if the Mia hand is connected, False otherwise. More... | |
bool | was_connected_ |
True if the Mia hand was connected, False otherwise. More... | |
ros::WallTimer | publish_data_tmr_ |
Timer to handle the Mia hand data publishing. More... | |
ros::WallTimer | check_connection_tmr_ |
Timer to handle the check of the Mia hand connection status. More... | |
ros::NodeHandle & | nh_ |
Reference to public node handle (for topics and services) More... | |
ros::NodeHandle & | nh_priv_ |
Reference to private node handle (for parameters) More... | |
ros::Subscriber | thu_mot_trgt_pos_ |
Subscriber to receive the target pose of the tumb flexion motor. More... | |
ros::Subscriber | ind_mot_trgt_pos_ |
Subscriber to receive the target pose of the index flexion motor. More... | |
ros::Subscriber | mrl_mot_trgt_pos_ |
Subscriber to receive the target pose of the mrl flexion motor. More... | |
ros::Subscriber | thu_mot_trgt_spe_ |
Subscriber to receive the target velocity of the tumb flexion motor. More... | |
ros::Subscriber | ind_mot_trgt_spe_ |
Subscriber to receive the target velocity of the index flexion motor. More... | |
ros::Subscriber | mrl_mot_trgt_spe_ |
Subscriber to receive the target velocity of the mrl flexion motor. More... | |
ros::Subscriber | thu_fin_trgt_for_ |
Subscriber to receive the target force of the tumb flexion motor. More... | |
ros::Subscriber | ind_fin_trgt_for_ |
Subscriber to receive the target force of the index flexion motor. More... | |
ros::Subscriber | mrl_fin_trgt_for_ |
Subscriber to receive the target force of the mrl flexion motor. More... | |
ros::Subscriber | thu_cyl_grasp_ref_ |
Subscriber to receive the parametrs for cylindrical grasp for the thumb flexion motor. More... | |
ros::Subscriber | ind_cyl_grasp_ref_ |
Subscriber to receive the parametrs for cylindrical grasp for the index flexion motor. More... | |
ros::Subscriber | mrl_cyl_grasp_ref_ |
Subscriber to receive the parametrs for cylindrical grasp for the mrl flexion motor. More... | |
ros::Subscriber | thu_pin_grasp_ref_ |
Subscriber to receive the parametrs for pinch grasp for the thumb flexion motor. More... | |
ros::Subscriber | ind_pin_grasp_ref_ |
Subscriber to receive the parametrs for pinch grasp for the index flexion motor. More... | |
ros::Subscriber | mrl_pin_grasp_ref_ |
Subscriber to receive the parametrs for pinch grasp for the mrl flexion motor. More... | |
ros::Subscriber | thu_lat_grasp_ref_ |
Subscriber to receive the parametrs for lateral grasp for the thumb flexion motor. More... | |
ros::Subscriber | ind_lat_grasp_ref_ |
Subscriber to receive the parametrs for lateral grasp for the index flexion motor. More... | |
ros::Subscriber | mrl_lat_grasp_ref_ |
Subscriber to receive the parametrs for lateral grasp for the mrl flexion motor. More... | |
ros::Subscriber | thu_sph_grasp_ref_ |
Subscriber to receive the parametrs for spherical grasp for the thumb flexion motor. More... | |
ros::Subscriber | ind_sph_grasp_ref_ |
Subscriber to receive the parametrs for spherical grasp for the index flexion motor. More... | |
ros::Subscriber | mrl_sph_grasp_ref_ |
Subscriber to receive the parametrs for spherical grasp for the mrl flexion motor. More... | |
ros::Subscriber | thu_tri_grasp_ref_ |
Subscriber to receive the parametrs for tridigital grasp for the thumb flexion motor. More... | |
ros::Subscriber | ind_tri_grasp_ref_ |
Subscriber to receive the parametrs for tridigital grasp for the index flexion motor. More... | |
ros::Subscriber | mrl_tri_grasp_ref_ |
Subscriber to receive the parametrs for tridigital grasp for the mrl flexion motor. More... | |
ros::Subscriber | cyl_grasp_percent_ |
Subscriber to receive the closure percentage for cylindical grasp. More... | |
ros::Subscriber | pin_grasp_percent_ |
Subscriber to receive the closure percentage for pinch grasp. More... | |
ros::Subscriber | lat_grasp_percent_ |
Subscriber to receive the closure percentage for lateral grasp. More... | |
ros::Subscriber | sph_grasp_percent_ |
Subscriber to receive the closure percentage for sherical grasp. More... | |
ros::Subscriber | tri_grasp_percent_ |
Subscriber to receive the closure percentage for tridigital grasp. More... | |
ros::Publisher | mot_pos_info_ |
Publisher of the positions data of the Mia hand motors. More... | |
ros::Publisher | mot_spe_info_ |
Publisher of the velocity data of the Mia hand motors. More... | |
ros::Publisher | mot_cur_info_ |
Publisher of the current absorbed by the Mia hand motors. More... | |
ros::Publisher | fin_for_info_ |
Publisher of the force data read by the sensors embedded in the Mia hand fingers. More... | |
ros::ServiceServer | connect_to_port_ |
Service to open a serial port and connect the Mia hand. More... | |
ros::ServiceServer | disconnect_ |
Service to disconnect the Mia hand and close the serial port. More... | |
ros::ServiceServer | switch_pos_stream_ |
Service to manage a the streaming of motor position data sent by the Mia hand. More... | |
ros::ServiceServer | switch_spe_stream_ |
Service to manage a the streaming of motor velocity data sent by the Mia hand. More... | |
ros::ServiceServer | switch_ana_stream_ |
Service to manage a the streaming of the analog input data (i.e. force sensor outputs) sent by the Mia hand. More... | |
ros::ServiceServer | switch_cur_stream_ |
Service to manage a the streaming of the current data (i.e. force sensor outputs) sent by the Mia hand. More... | |
ros::ServiceServer | open_cyl_grasp_ |
Service to move the Mia hand motors to the rest position of the cylindrical grasp. More... | |
ros::ServiceServer | open_pin_grasp_ |
Service to move the Mia hand motors to the rest position of the pinch grasp. More... | |
ros::ServiceServer | open_lat_grasp_ |
Service to move the Mia hand motors to the rest position of the lateral grasp. More... | |
ros::ServiceServer | open_sph_grasp_ |
Service to move the Mia hand motors to the rest position of the spherical grasp. More... | |
ros::ServiceServer | open_tri_grasp_ |
Service to move the Mia hand motors to the rest position of the tridigital grasp. More... | |
ros::ServiceServer | close_cyl_grasp_ |
Service to move the Mia hand motors to the closed position of the cylindrical grasp. More... | |
ros::ServiceServer | close_pin_grasp_ |
Service to move the Mia hand motors to the closed position of the pinch grasp. More... | |
ros::ServiceServer | close_lat_grasp_ |
Service to move the Mia hand motors to the closed position of the lateral grasp. More... | |
ros::ServiceServer | close_sph_grasp_ |
Service to move the Mia hand motors to the closed position of the spherical grasp. More... | |
ros::ServiceServer | close_tri_grasp_ |
Service to move the Mia hand motors to the closed position of the tridigital grasp. More... | |
Definition at line 35 of file ros_driver.h.
mia_hand::ROSDriver::ROSDriver | ( | ros::NodeHandle & | nh, |
ros::NodeHandle & | nh_priv | ||
) |
Class constructor.
nh | reference to public node handle |
nh_priv | reference to private node handle |
Definition at line 6 of file ros_driver.cpp.
|
private |
Callback of the check_connection_tmr_ timer.
Definition at line 80 of file ros_driver.cpp.
|
private |
Callback of the service close_cyl_grasp_.
Move the Mia hand motors to the closed position of the cylindrical grasp.
req | Unused. |
resp | Unused |
Definition at line 620 of file ros_driver.cpp.
|
private |
Callback of the service close_lat_grasp_.
Move the Mia hand motors to the closed position of the lateral grasp.
req | Unused. |
resp | Unused |
Definition at line 636 of file ros_driver.cpp.
|
private |
Callback of the service close_pin_grasp_.
Move the Mia hand motors to the closed position of the pinch grasp.
req | Unused. |
resp | Unused |
Definition at line 628 of file ros_driver.cpp.
|
private |
Callback of the service close_sph_grasp_.
Move the Mia hand motors to the closed position of the spherical grasp.
req | Unused. |
resp | Unused |
Definition at line 644 of file ros_driver.cpp.
|
private |
Callback of the service close_tri_grasp_.
Move the Mia hand motors to the closed position of the tridigital grasp.
req | Unused. |
resp | Unused |
Definition at line 652 of file ros_driver.cpp.
|
private |
Callback of the service connect_to_port_.
Connect the Mia hand opening a serial port.
req | mia_hand_msgs containing the number of the port to open. |
resp | mia_hand_msgs containing the success of the operation (true or false) and a string message. |
Definition at line 507 of file ros_driver.cpp.
|
private |
Callback of the subscriber cyl_grasp_percent_.
Set the target closure percentage of the cylindrical grasp.
msg | standard message containing the target closure percentage [0, 100]. |
Definition at line 471 of file ros_driver.cpp.
|
private |
Callback of the service disconnect_.
Disconnect the Mia hand and close the serial port.
req | unused. |
resp | containing the success of the operation (true or false) and a string message. |
Definition at line 529 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_cyl_grasp_ref_.
Set the parameter of the cylindrical grasp for the index flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 349 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_fin_trgt_for_.
msg | standard message containing the target force [0, +1024] to be applied by the finger (and thus to be read by the finger sensor). |
Definition at line 443 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_lat_grasp_ref_.
Set the parameter of the lateral grasp for the index flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 365 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_mot_trgt_pos_.
msg | standard message containing the target position [-255, 255] of the motor |
Definition at line 429 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_mot_trgt_spe_.
msg | standard message containing the target velocity [-90, 90] of the motor. |
Definition at line 436 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_pin_grasp_ref_.
Set the parameter of the pinch grasp for the index flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 357 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_sph_grasp_ref_.
Set the parameter of the spherical grasp for the index flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 373 of file ros_driver.cpp.
|
private |
Callback of the subscriber ind_tri_grasp_ref_.
Set the parameter of the tridigital grasp for the index flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 381 of file ros_driver.cpp.
|
private |
Initialize publishers.
Definition at line 277 of file ros_driver.cpp.
|
private |
Initialize services.
Definition at line 209 of file ros_driver.cpp.
|
private |
Initialize subscribers of the automatic grasp info.
Definition at line 189 of file ros_driver.cpp.
|
private |
Initialize subscribers of the index flexion motor info.
Definition at line 131 of file ros_driver.cpp.
|
private |
Initialize subscribers of the index mrl motor info.
Definition at line 160 of file ros_driver.cpp.
|
private |
Initialize subscribers of the thumb flexion motor info.
Definition at line 102 of file ros_driver.cpp.
|
private |
Callback of the subscriber lat_grasp_percent_.
Set the target closure percentage of the lateral grasp.
msg | standard message containing the target closure percentage [0, 100]. |
Definition at line 486 of file ros_driver.cpp.
|
private |
Callback of the subscriber #mrl_cyl_grasp_ref.
Set the parameter of the cylindrical grasp for the mrl flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 389 of file ros_driver.cpp.
|
private |
Callback of the subscriber mrl_fin_trgt_for_.
msg | standard message containing the target force [0, +1024] to be applied by the finger (and thus to be read by the finger sensor). |
Definition at line 464 of file ros_driver.cpp.
|
private |
Callback of the subscriber #mrl_lat_grasp_ref.
Set the parameter of the lateral grasp for the mrl flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 405 of file ros_driver.cpp.
|
private |
Callback of the subscriber mrl_mot_trgt_pos_.
msg | standard message containing the target position [0, 255] of the motor. |
Definition at line 450 of file ros_driver.cpp.
|
private |
Callback of the subscriber mrl_mot_trgt_spe_.
msg | standard message containing the target velocity [-90, 90] of the motor. |
Definition at line 457 of file ros_driver.cpp.
|
private |
Callback of the subscriber #mrl_pin_grasp_ref.
Set the parameter of the pinch grasp for the mrl flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 397 of file ros_driver.cpp.
|
private |
Callback of the subscriber #mrl_sph_grasp_ref.
Set the parameter of the spherical grasp for the mrl flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 413 of file ros_driver.cpp.
|
private |
Callback of the subscriber #mrl_tri_grasp_ref.
Set the parameter of the tridigital grasp for the mrl flexion motor.
msg | mia_hand_msgs containing the grasp parameters (rest position, closure position and dely) to be set for the specific motor. |
Definition at line 421 of file ros_driver.cpp.
|
private |
Callback of the service open_cyl_grasp_.
Move the Mia hand motors to the rest position of the cylindrical grasp.
req | Unused. |
resp | Unused |
Definition at line 580 of file ros_driver.cpp.
|
private |
Callback of the service open_lat_grasp_.
Move the Mia hand motors to the rest position of the lateral grasp.
req | Unused. |
resp | Unused |
Definition at line 596 of file ros_driver.cpp.
|
private |
Callback of the service open_pin_grasp_.
Move the Mia hand motors to the rest position of the pinch grasp.
req | Unused. |
resp | Unused |
Definition at line 588 of file ros_driver.cpp.
|
private |
Callback of the service open_sph_grasp_.
Move the Mia hand motors to the rest position of the spherical grasp.
req | Unused. |
resp | Unused |
Definition at line 604 of file ros_driver.cpp.
|
private |
Callback of the service open_tri_grasp_.
Move the Mia hand motors to the rest position of the tridigital grasp.
req | Unused. |
resp | Unused |
Definition at line 612 of file ros_driver.cpp.
|
private |
Callback of the subscriber pin_grasp_percent_.
Set the target closure percentage of the pinch grasp.
msg | standard message containing the target closure percentage [0, 100]. |
Definition at line 478 of file ros_driver.cpp.
|
private |
Callback of the publish_data_tmr_ timer.
Definition at line 47 of file ros_driver.cpp.
|
private |
Callback of the subscriber sph_grasp_percent_.
Set the target closure percentage of the spherical grasp.
msg | standard message containing the target closure percentage [0, 100]. |
Definition at line 493 of file ros_driver.cpp.
|
private |
Callback of the service switch_ana_stream_.
Manage the streaming of the analog input data (i.e. force sensor outputs) sent by the Mia hand.
req | True to enable the data streaming, False to disable it. |
resp | Unused |
Definition at line 564 of file ros_driver.cpp.
|
private |
Callback of the service switch_cur_stream_.
Manage the streaming of the analog input data (i.e. force sensor outputs) sent by the Mia hand.
req | True to enable the data streaming, False to disable it. |
resp | Unused |
Definition at line 572 of file ros_driver.cpp.
|
private |
Callback of the service switch_pos_stream_.
Manage the streaming of motor position data sent by the Mia hand.
req | True to enable the data streaming, False to disable it. |
resp | Unused |
Definition at line 548 of file ros_driver.cpp.
|
private |
Callback of the service switch_spe_stream_.
Manage the streaming of motor velocity data sent by the Mia hand.
req | True to enable the data streaming, False to disable it. |
resp | Unused |
Definition at line 556 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_cyl_grasp_ref_.
Set the parameter of the cylindrical grasp for the thumb flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 309 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_fin_trgt_for_.
msg | standard message containing the target force [0, +1024] to be applied by the finger (and thus to be read by the finger sensor). |
Definition at line 302 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_lat_grasp_ref_.
Set the parameter of the lateral grasp for the thumb flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 325 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_mot_trgt_pos_.
msg | standard message containing the target position [0, 255] of the motor. |
Definition at line 288 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_mot_trgt_spe_.
msg | standard message containing the target velocity [-90, 90] of the motor. |
Definition at line 295 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_pin_grasp_ref_.
Set the parameter of the pinch grasp for the thumb flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 317 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_sph_grasp_ref_.
Set the parameter of the spherical grasp for the thumb flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 333 of file ros_driver.cpp.
|
private |
Callback of the subscriber thu_sph_grasp_ref_.
Set the parameter of the tridigital grasp for the thumb flexion motor.
msg | mia_hand_msgs containing the grasp parameters ( rest position, closure position and dely) to be set for the specific motor. |
Definition at line 341 of file ros_driver.cpp.
|
private |
Callback of the subscriber tri_grasp_percent_.
Set the target closure percentage of the tridigital grasp.
msg | standard message containing the target closure percentage [0, 100]. |
Definition at line 500 of file ros_driver.cpp.
|
private |
Timer to handle the check of the Mia hand connection status.
Definition at line 63 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the closed position of the cylindrical grasp.
Definition at line 133 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the closed position of the lateral grasp.
Definition at line 135 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the closed position of the pinch grasp.
Definition at line 134 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the closed position of the spherical grasp.
Definition at line 136 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the closed position of the tridigital grasp.
Definition at line 137 of file ros_driver.h.
|
private |
Service to open a serial port and connect the Mia hand.
Definition at line 119 of file ros_driver.h.
|
private |
Subscriber to receive the closure percentage for cylindical grasp.
Definition at line 104 of file ros_driver.h.
|
private |
Service to disconnect the Mia hand and close the serial port.
Definition at line 120 of file ros_driver.h.
|
private |
Publisher of the force data read by the sensors embedded in the Mia hand fingers.
Definition at line 115 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for cylindrical grasp for the index flexion motor.
Definition at line 85 of file ros_driver.h.
|
private |
Subscriber to receive the target force of the index flexion motor.
Definition at line 81 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for lateral grasp for the index flexion motor.
Definition at line 93 of file ros_driver.h.
|
private |
Subscriber to receive the target pose of the index flexion motor.
Definition at line 73 of file ros_driver.h.
|
private |
Subscriber to receive the target velocity of the index flexion motor.
Definition at line 77 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for pinch grasp for the index flexion motor.
Definition at line 89 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for spherical grasp for the index flexion motor.
Definition at line 97 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for tridigital grasp for the index flexion motor.
Definition at line 101 of file ros_driver.h.
|
private |
True if the Mia hand is connected, False otherwise.
Definition at line 59 of file ros_driver.h.
|
private |
Subscriber to receive the closure percentage for lateral grasp.
Definition at line 106 of file ros_driver.h.
|
private |
Cpp driver of the Mia hand.
Definition at line 57 of file ros_driver.h.
|
private |
Publisher of the current absorbed by the Mia hand motors.
Definition at line 114 of file ros_driver.h.
|
private |
Publisher of the positions data of the Mia hand motors.
Definition at line 112 of file ros_driver.h.
|
private |
Publisher of the velocity data of the Mia hand motors.
Definition at line 113 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for cylindrical grasp for the mrl flexion motor.
Definition at line 86 of file ros_driver.h.
|
private |
Subscriber to receive the target force of the mrl flexion motor.
Definition at line 82 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for lateral grasp for the mrl flexion motor.
Definition at line 94 of file ros_driver.h.
|
private |
Subscriber to receive the target pose of the mrl flexion motor.
Definition at line 74 of file ros_driver.h.
|
private |
Subscriber to receive the target velocity of the mrl flexion motor.
Definition at line 78 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for pinch grasp for the mrl flexion motor.
Definition at line 90 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for spherical grasp for the mrl flexion motor.
Definition at line 98 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for tridigital grasp for the mrl flexion motor.
Definition at line 102 of file ros_driver.h.
|
private |
Reference to public node handle (for topics and services)
Definition at line 65 of file ros_driver.h.
|
private |
Reference to private node handle (for parameters)
Definition at line 67 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the rest position of the cylindrical grasp.
Definition at line 127 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the rest position of the lateral grasp.
Definition at line 129 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the rest position of the pinch grasp.
Definition at line 128 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the rest position of the spherical grasp.
Definition at line 130 of file ros_driver.h.
|
private |
Service to move the Mia hand motors to the rest position of the tridigital grasp.
Definition at line 131 of file ros_driver.h.
|
private |
Subscriber to receive the closure percentage for pinch grasp.
Definition at line 105 of file ros_driver.h.
|
private |
Timer to handle the Mia hand data publishing.
Definition at line 62 of file ros_driver.h.
|
private |
Subscriber to receive the closure percentage for sherical grasp.
Definition at line 107 of file ros_driver.h.
|
private |
Service to manage a the streaming of the analog input data (i.e. force sensor outputs) sent by the Mia hand.
Definition at line 124 of file ros_driver.h.
|
private |
Service to manage a the streaming of the current data (i.e. force sensor outputs) sent by the Mia hand.
Definition at line 125 of file ros_driver.h.
|
private |
Service to manage a the streaming of motor position data sent by the Mia hand.
Definition at line 122 of file ros_driver.h.
|
private |
Service to manage a the streaming of motor velocity data sent by the Mia hand.
Definition at line 123 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for cylindrical grasp for the thumb flexion motor.
Definition at line 84 of file ros_driver.h.
|
private |
Subscriber to receive the target force of the tumb flexion motor.
Definition at line 80 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for lateral grasp for the thumb flexion motor.
Definition at line 92 of file ros_driver.h.
|
private |
Subscriber to receive the target pose of the tumb flexion motor.
Definition at line 72 of file ros_driver.h.
|
private |
Subscriber to receive the target velocity of the tumb flexion motor.
Definition at line 76 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for pinch grasp for the thumb flexion motor.
Definition at line 88 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for spherical grasp for the thumb flexion motor.
Definition at line 96 of file ros_driver.h.
|
private |
Subscriber to receive the parametrs for tridigital grasp for the thumb flexion motor.
Definition at line 100 of file ros_driver.h.
|
private |
Subscriber to receive the closure percentage for tridigital grasp.
Definition at line 108 of file ros_driver.h.
|
private |
True if the Mia hand was connected, False otherwise.
Definition at line 60 of file ros_driver.h.