#include <node_canopen_402_driver.hpp>

Inheritance diagram for ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >:

[legend]

Collaboration diagram for ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >:

[legend]

Public Member Functions
	NodeCanopen402Driver (NODETYPE *node)

virtual void	init (bool called_from_base) override
	Initialises the driver. More...

virtual void	configure (bool called_from_base) override
	Configure the driver. More...

virtual void	activate (bool called_from_base) override
	Activates the driver. More...

virtual void	deactivate (bool called_from_base) override
	Deactivates the driver. More...

virtual void	add_to_master () override
	Add the driver to master. More...

virtual double	get_speed ()

virtual double	get_position ()

virtual uint16_t	get_mode ()

void	handle_init (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to initialise device. More...

bool	init_motor ()
	Method to initialise device. More...

void	handle_recover (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to recover device. More...

bool	recover_motor ()
	Method to recover device. More...

void	handle_halt (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to halt device. More...

bool	halt_motor ()
	Method to halt device. More...

void	handle_set_mode_position (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to set profiled position mode. More...

bool	set_operation_mode (uint16_t mode)

bool	set_mode_position ()
	Method to set profiled position mode. More...

void	handle_set_mode_velocity (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to set profiled velocity mode. More...

bool	set_mode_velocity ()
	Method to set profiled velocity mode. More...

void	handle_set_mode_cyclic_position (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to set cyclic position mode. More...

void	handle_set_mode_interpolated_position (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to set interpolated position mode. More...

bool	set_mode_interpolated_position ()
	Method to set interpolated position mode. More...

bool	set_mode_cyclic_position ()
	Method to set cyclic position mode. More...

void	handle_set_mode_cyclic_velocity (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to set cyclic velocity mode. More...

bool	set_mode_cyclic_velocity ()
	Method to set cyclic velocity mode. More...

void	handle_set_mode_torque (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)
	Service Callback to set profiled torque mode. More...

bool	set_mode_torque ()
	Method to set profiled torque mode. More...

void	handle_set_target (const canopen_interfaces::srv::COTargetDouble::Request::SharedPtr request, canopen_interfaces::srv::COTargetDouble::Response::SharedPtr response)
	Service Callback to set target. More...

bool	set_target (double target)
	Method to set target. More...

Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >
	NodeCanopenProxyDriver (NODETYPE *node)

virtual bool	reset_node_nmt_command ()

virtual bool	start_node_nmt_command ()

virtual bool	tpdo_transmit (COData &data)

virtual bool	sdo_write (COData &data)

virtual bool	sdo_read (COData &data)

Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >
	NodeCanopenBaseDriver (NODETYPE *node)

virtual	~NodeCanopenBaseDriver ()

virtual void	cleanup (bool called_from_base)
	Cleanup the driver. More...

virtual void	shutdown (bool called_from_base)
	Shuts down the driver. More...

virtual void	remove_from_master ()
	Remove the driver from master. More...

void	register_nmt_state_cb (std::function< void(canopen::NmtState, uint8_t)> nmt_state_cb)
	Register a callback for NMT state change. More...

void	register_rpdo_cb (std::function< void(COData, uint8_t)> rpdo_cb)
	Register a callback for RPDO. More...

void	register_emcy_cb (std::function< void(COEmcy, uint8_t)> emcy_cb)
	Register a callback for EMCY. More...

Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >
	NodeCanopenDriver (NODETYPE *node)

virtual void	set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master)
	Set Master. More...

void	init ()
	Initialise the driver. More...

void	configure ()
	Configure the driver. More...

void	activate ()
	Activate the driver. More...

void	deactivate ()
	Deactivate the driver. More...

void	cleanup ()
	Cleanup the driver. More...

void	shutdown ()
	Shutdown the driver. More...

virtual void	demand_set_master ()
	Demand set Master. More...

Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenDriverInterface
	NodeCanopenDriverInterface ()

Protected Member Functions
void	publish ()

virtual void	poll_timer_callback () override

void	diagnostic_callback (diagnostic_updater::DiagnosticStatusWrapper &stat) override

Protected Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >
virtual void	on_nmt (canopen::NmtState nmt_state) override

virtual void	on_rpdo (COData data) override

virtual void	on_tpdo (const canopen_interfaces::msg::COData::SharedPtr msg)

void	on_nmt_state_reset (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)

void	on_nmt_state_start (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)

void	on_sdo_read (const canopen_interfaces::srv::CORead::Request::SharedPtr request, canopen_interfaces::srv::CORead::Response::SharedPtr response)

void	on_sdo_write (const canopen_interfaces::srv::COWrite::Request::SharedPtr request, canopen_interfaces::srv::COWrite::Response::SharedPtr response)

Protected Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >
void	nmt_listener ()

void	rdpo_listener ()

void	emcy_listener ()

virtual void	on_emcy (COEmcy emcy)

Protected Attributes
std::shared_ptr< Motor402 >	motor_

rclcpp::TimerBase::SharedPtr	timer_

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_init_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_halt_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_recover_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_set_mode_position_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_set_mode_torque_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_set_mode_velocity_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_set_mode_cyclic_velocity_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_set_mode_cyclic_position_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	handle_set_mode_interpolated_position_service

rclcpp::Service< canopen_interfaces::srv::COTargetDouble >::SharedPtr	handle_set_target_service

rclcpp::Publisher< sensor_msgs::msg::JointState >::SharedPtr	publish_joint_state

double	scale_pos_to_dev_

double	scale_pos_from_dev_

double	scale_vel_to_dev_

double	scale_vel_from_dev_

ros2_canopen::State402::InternalState	switching_state_

Protected Attributes inherited from ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	nmt_state_publisher

rclcpp::Publisher< canopen_interfaces::msg::COData >::SharedPtr	rpdo_publisher

rclcpp::Subscription< canopen_interfaces::msg::COData >::SharedPtr	tpdo_subscriber

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	nmt_state_reset_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	nmt_state_start_service

rclcpp::Service< canopen_interfaces::srv::CORead >::SharedPtr	sdo_read_service

rclcpp::Service< canopen_interfaces::srv::COWrite >::SharedPtr	sdo_write_service

std::mutex	sdo_mtex

Protected Attributes inherited from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >
std::thread	nmt_state_publisher_thread_

std::thread	rpdo_publisher_thread_

std::thread	emcy_publisher_thread_

std::mutex	driver_mutex_

std::shared_ptr< ros2_canopen::LelyDriverBridge >	lely_driver_

uint32_t	period_ms_

int	sdo_timeout_ms_

bool	polling_

std::function< void(canopen::NmtState, uint8_t)>	nmt_state_cb_

std::function< void(COData, uint8_t)>	rpdo_cb_

std::function< void(COEmcy, uint8_t)>	emcy_cb_

std::shared_ptr< ros2_canopen::SafeQueue< ros2_canopen::COEmcy > >	emcy_queue_

std::shared_ptr< ros2_canopen::SafeQueue< ros2_canopen::COData > >	rpdo_queue_

rclcpp::TimerBase::SharedPtr	poll_timer_

std::atomic< bool >	diagnostic_enabled_

uint32_t	diagnostic_period_ms_

std::shared_ptr< diagnostic_updater::Updater >	diagnostic_updater_

std::shared_ptr< DiagnosticsCollector >	diagnostic_collector_

Protected Attributes inherited from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >
NODETYPE *	node_

std::shared_ptr< lely::ev::Executor >	exec_

std::shared_ptr< lely::canopen::AsyncMaster >	master_

std::shared_ptr< lely::canopen::BasicDriver >	driver_

std::chrono::milliseconds	non_transmit_timeout_

YAML::Node	config_

uint8_t	node_id_

std::string	container_name_

std::string	eds_

std::string	bin_

rclcpp::CallbackGroup::SharedPtr	client_cbg_

rclcpp::CallbackGroup::SharedPtr	timer_cbg_

std::atomic< bool >	master_set_

std::atomic< bool >	initialised_

std::atomic< bool >	configured_

std::atomic< bool >	activated_

Constructor & Destructor Documentation

◆ NodeCanopen402Driver()

template<class NODETYPE >

NodeCanopen402Driver::NodeCanopen402Driver ( NODETYPE * node )

Member Function Documentation

◆ publish()

template<class NODETYPE >

void NodeCanopen402Driver::publish

protected

◆ poll_timer_callback()

template<class NODETYPE >

void NodeCanopen402Driver::poll_timer_callback

overrideprotectedvirtual

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

◆ diagnostic_callback()

template<class NODETYPE >

void NodeCanopen402Driver::diagnostic_callback ( diagnostic_updater::DiagnosticStatusWrapper & stat )

overrideprotectedvirtual

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >.

◆ init()

template<class NODETYPE >

void NodeCanopen402Driver::init ( bool called_from_base )

overridevirtual

Initialises the driver.

This does not do anything, it is an empty function. it should be overridden by derived classes.

Todo:: Potentially make this an abstract function. This is mainly for debugging purposes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >.

◆ configure()

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::configure ( bool called_from_base )

overridevirtual

Configure the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

◆ activate()

template<class NODETYPE >

void NodeCanopen402Driver::activate ( bool called_from_base )

overridevirtual

Activates the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

◆ deactivate()

template<class NODETYPE >

void NodeCanopen402Driver::deactivate ( bool called_from_base )

overridevirtual

Deactivates the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

◆ add_to_master()

template<class NODETYPE >

void NodeCanopen402Driver::add_to_master

overridevirtual

Add the driver to master.

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

◆ get_speed()

template<class NODETYPE >

virtual double ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::get_speed ( )

inlinevirtual

◆ get_position()

template<class NODETYPE >

virtual double ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::get_position ( )

inlinevirtual

◆ get_mode()

template<class NODETYPE >

virtual uint16_t ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::get_mode ( )

inlinevirtual

◆ handle_init()

template<class NODETYPE >

void NodeCanopen402Driver::handle_init	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to initialise device.

Calls Motor402::handleInit function. Brings motor to enabled state and homes it.

Parameters

[in]	request
[out]	response

◆ init_motor()

template<class NODETYPE >

bool NodeCanopen402Driver::init_motor

Method to initialise device.

Calls Motor402::handleInit function. Brings motor to enabled state and homes it.

Parameters

[in] void

Returns: bool Indicates initialisation procedure result

◆ handle_recover()

template<class NODETYPE >

void NodeCanopen402Driver::handle_recover	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to recover device.

Calls Motor402::handleRecover function. Resets faults and brings motor to enabled state.

Parameters

[in]	request
[out]	response

◆ recover_motor()

template<class NODETYPE >

bool NodeCanopen402Driver::recover_motor

Method to recover device.

Calls Motor402::handleRecover function. Resets faults and brings motor to enabled state.

Parameters

[in] void

Returns: bool

◆ handle_halt()

template<class NODETYPE >

void NodeCanopen402Driver::handle_halt	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to halt device.

Calls Motor402::handleHalt function. Calls Quickstop. Resulting Motor state depends on devices configuration specifically object 0x605A.

Parameters

[in]	request
[out]	response

◆ halt_motor()

template<class NODETYPE >

bool NodeCanopen402Driver::halt_motor

Method to halt device.

Calls Motor402::handleHalt function. Calls Quickstop. Resulting Motor state depends on devices configuration specifically object 0x605A.

Parameters

[in] void

Returns: bool

◆ handle_set_mode_position()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_mode_position	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to set profiled position mode.

Calls Motor402::enterModeAndWait with Profiled Position Mode as Target Operation Mode. If successful, the motor was transitioned to Profiled Position Mode.

Parameters

[in]	request
[out]	response

◆ set_operation_mode()

template<class NODETYPE >

bool NodeCanopen402Driver::set_operation_mode ( uint16_t mode )

◆ set_mode_position()

template<class NODETYPE >

bool NodeCanopen402Driver::set_mode_position

Method to set profiled position mode.

Calls Motor402::enterModeAndWait with Profiled Position Mode as Target Operation Mode. If successful, the motor was transitioned to Profiled Position Mode.

Parameters

[in] void

Returns: bool

◆ handle_set_mode_velocity()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_mode_velocity	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to set profiled velocity mode.

Calls Motor402::enterModeAndWait with Profiled Velocity Mode as Target Operation Mode. If successful, the motor was transitioned to Profiled Velocity Mode.

Parameters

[in]	request
[out]	response

◆ set_mode_velocity()

template<class NODETYPE >

bool NodeCanopen402Driver::set_mode_velocity

Method to set profiled velocity mode.

Calls Motor402::enterModeAndWait with Profiled Velocity Mode as Target Operation Mode. If successful, the motor was transitioned to Profiled Velocity Mode.

Parameters

[in] void

Returns: bool

◆ handle_set_mode_cyclic_position()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_mode_cyclic_position	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to set cyclic position mode.

Calls Motor402::enterModeAndWait with Cyclic Position Mode as Target Operation Mode. If successful, the motor was transitioned to Cyclic Position Mode.

Parameters

[in]	request
[out]	response

◆ handle_set_mode_interpolated_position()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_mode_interpolated_position	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to set interpolated position mode.

Calls Motor402::enterModeAndWait with Interpolated Position Mode as Target Operation Mode. If successful, the motor was transitioned to Interpolated Position Mode. This only supports linear mode.

Parameters

[in]	request
[out]	response

◆ set_mode_interpolated_position()

template<class NODETYPE >

bool NodeCanopen402Driver::set_mode_interpolated_position

Method to set interpolated position mode.

Calls Motor402::enterModeAndWait with Interpolated Position Mode as Target Operation Mode. If successful, the motor was transitioned to Interpolated Position Mode. This only supports linear mode.

Parameters

[in]	void
[out]	bool

◆ set_mode_cyclic_position()

template<class NODETYPE >

bool NodeCanopen402Driver::set_mode_cyclic_position

Method to set cyclic position mode.

Calls Motor402::enterModeAndWait with Cyclic Position Mode as Target Operation Mode. If successful, the motor was transitioned to Cyclic Position Mode.

Parameters

[in] void

Returns: bool

◆ handle_set_mode_cyclic_velocity()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_mode_cyclic_velocity	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to set cyclic velocity mode.

Calls Motor402::enterModeAndWait with Cyclic Velocity Mode as Target Operation Mode. If successful, the motor was transitioned to Cyclic Velocity Mode.

Parameters

[in]	request
[out]	response

◆ set_mode_cyclic_velocity()

template<class NODETYPE >

bool NodeCanopen402Driver::set_mode_cyclic_velocity

Method to set cyclic velocity mode.

Calls Motor402::enterModeAndWait with Cyclic Velocity Mode as Target Operation Mode. If successful, the motor was transitioned to Cyclic Velocity Mode.

Parameters

[in] void

Returns: bool

◆ handle_set_mode_torque()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_mode_torque	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

Service Callback to set profiled torque mode.

Calls Motor402::enterModeAndWait with Profiled Torque Mode as Target Operation Mode. If successful, the motor was transitioned to Profiled Torque Mode.

Parameters

[in]	request
[out]	response

◆ set_mode_torque()

template<class NODETYPE >

bool NodeCanopen402Driver::set_mode_torque

Method to set profiled torque mode.

Calls Motor402::enterModeAndWait with Profiled Torque Mode as Target Operation Mode. If successful, the motor was transitioned to Profiled Torque Mode.

Parameters

[in] void

Returns: bool

◆ handle_set_target()

template<class NODETYPE >

void NodeCanopen402Driver::handle_set_target	(	const canopen_interfaces::srv::COTargetDouble::Request::SharedPtr	request,
		canopen_interfaces::srv::COTargetDouble::Response::SharedPtr	response
	)

Service Callback to set target.

Calls Motor402::setTarget and sets the requested target value. Note that the resulting movement is dependent on the Operation Mode and the drives state.

Parameters

[in]	request
[out]	response

◆ set_target()

template<class NODETYPE >

bool NodeCanopen402Driver::set_target ( double target )

Method to set target.

Calls Motor402::setTarget and sets the requested target value. Note that the resulting movement is dependent on the Operation Mode and the drives state.

Parameters

[in] double target value

Returns: bool

Member Data Documentation

◆ motor_

template<class NODETYPE >

std::shared_ptr<Motor402> ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::motor_

protected

◆ timer_

template<class NODETYPE >

rclcpp::TimerBase::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::timer_

protected

◆ handle_init_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_init_service

protected

◆ handle_halt_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_halt_service

protected

◆ handle_recover_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_recover_service

protected

◆ handle_set_mode_position_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_mode_position_service

protected

◆ handle_set_mode_torque_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_mode_torque_service

protected

◆ handle_set_mode_velocity_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_mode_velocity_service

protected

◆ handle_set_mode_cyclic_velocity_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_mode_cyclic_velocity_service

protected

◆ handle_set_mode_cyclic_position_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_mode_cyclic_position_service

protected

◆ handle_set_mode_interpolated_position_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_mode_interpolated_position_service

protected

◆ handle_set_target_service

template<class NODETYPE >

rclcpp::Service<canopen_interfaces::srv::COTargetDouble>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::handle_set_target_service

protected

◆ publish_joint_state

template<class NODETYPE >

rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::publish_joint_state

protected

◆ scale_pos_to_dev_

template<class NODETYPE >

double ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::scale_pos_to_dev_

protected

◆ scale_pos_from_dev_

template<class NODETYPE >

double ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::scale_pos_from_dev_

protected

◆ scale_vel_to_dev_

template<class NODETYPE >

double ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::scale_vel_to_dev_

protected

◆ scale_vel_from_dev_

template<class NODETYPE >

double ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::scale_vel_from_dev_

protected

◆ switching_state_

template<class NODETYPE >

ros2_canopen::State402::InternalState ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >::switching_state_

protected

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

/home/runner/work/ros2_canopen/ros2_canopen/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver.hpp
/home/runner/work/ros2_canopen/ros2_canopen/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ NodeCanopen402Driver()

Member Function Documentation

◆ publish()

◆ poll_timer_callback()

◆ diagnostic_callback()

◆ init()

◆ configure()

◆ activate()

◆ deactivate()

◆ add_to_master()

◆ get_speed()

◆ get_position()

◆ get_mode()

◆ handle_init()

◆ init_motor()

◆ handle_recover()

◆ recover_motor()

◆ handle_halt()

◆ halt_motor()

◆ handle_set_mode_position()

◆ set_operation_mode()

◆ set_mode_position()

◆ handle_set_mode_velocity()

◆ set_mode_velocity()

◆ handle_set_mode_cyclic_position()

◆ handle_set_mode_interpolated_position()

◆ set_mode_interpolated_position()

◆ set_mode_cyclic_position()

◆ handle_set_mode_cyclic_velocity()

◆ set_mode_cyclic_velocity()

◆ handle_set_mode_torque()

◆ set_mode_torque()

◆ handle_set_target()

◆ set_target()

Member Data Documentation

◆ motor_

◆ timer_

◆ handle_init_service

◆ handle_halt_service

◆ handle_recover_service

◆ handle_set_mode_position_service

◆ handle_set_mode_torque_service

◆ handle_set_mode_velocity_service

◆ handle_set_mode_cyclic_velocity_service

◆ handle_set_mode_cyclic_position_service

◆ handle_set_mode_interpolated_position_service

◆ handle_set_target_service

◆ publish_joint_state

◆ scale_pos_to_dev_

◆ scale_pos_from_dev_

◆ scale_vel_to_dev_

◆ scale_vel_from_dev_

◆ switching_state_