ros2_canopen
master
C++ ROS CANopen Library
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Lifecycle 402 Driver. More...
#include <lifecycle_cia402_driver.hpp>
Public Member Functions | |
LifecycleCia402Driver (rclcpp::NodeOptions node_options=rclcpp::NodeOptions()) | |
virtual bool | reset_node_nmt_command () |
virtual bool | start_node_nmt_command () |
virtual bool | tpdo_transmit (ros2_canopen::COData &data) |
virtual bool | sdo_write (ros2_canopen::COData &data) |
virtual bool | sdo_read (ros2_canopen::COData &data) |
void | register_nmt_state_cb (std::function< void(canopen::NmtState, uint8_t)> nmt_state_cb) |
void | register_rpdo_cb (std::function< void(COData, uint8_t)> rpdo_cb) |
double | get_speed () |
double | get_position () |
bool | set_target (double target) |
bool | init_motor () |
bool | recover_motor () |
bool | halt_motor () |
bool | set_mode_position () |
bool | set_mode_velocity () |
bool | set_mode_cyclic_position () |
bool | set_mode_cyclic_velocity () |
bool | set_mode_torque () |
bool | set_mode_interpolated_position () |
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LifecycleCanopenDriver (const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions()) | |
virtual void | init () override |
Initialise the driver. More... | |
virtual void | set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master) override |
Set the master object. More... | |
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn | on_configure (const rclcpp_lifecycle::State &state) |
Configure Callback. More... | |
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn | on_activate (const rclcpp_lifecycle::State &state) |
Activate Callback. More... | |
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn | on_deactivate (const rclcpp_lifecycle::State &state) |
Deactivate Callback. More... | |
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn | on_cleanup (const rclcpp_lifecycle::State &state) |
Deactivate Callback. More... | |
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn | on_shutdown (const rclcpp_lifecycle::State &state) |
Deactivate Callback. More... | |
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_base_interface () override |
Get the node base interface object. More... | |
virtual void | shutdown () override |
Shutdown the driver. More... | |
virtual bool | is_lifecycle () override |
Check whether this is a LifecycleNode. More... | |
virtual std::shared_ptr< node_interfaces::NodeCanopenDriverInterface > | get_node_canopen_driver_interface () |
Get the node canopen driver interface object. More... | |
Additional Inherited Members | |
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std::shared_ptr< node_interfaces::NodeCanopenDriverInterface > | node_canopen_driver_ |
Lifecycle 402 Driver.
A very basic driver without any functionality.
ros2_canopen::LifecycleCia402Driver::LifecycleCia402Driver | ( | rclcpp::NodeOptions | node_options = rclcpp::NodeOptions() | ) |
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