Obbart/universal_robots_ros_driver
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Clean up of old driver files

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:45:02 +02:00
parent 40fc986e7b
commit fdaaacfe2c
17 changed files with 5 additions and 2863 deletions
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53
include/ur_modern_driver/ros/robot_hardware.h
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#pragma once
#include <controller_manager/controller_manager.h>
#include <hardware_interface/force_torque_sensor_interface.h>
#include <hardware_interface/internal/demangle_symbol.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include "ur_modern_driver/ros/hardware_interface.h"
using hardware_interface::RobotHW;
using hardware_interface::ControllerInfo;
class RobotHardware : public RobotHW
{
private:
JointInterface joint_interface_;
WrenchInterface wrench_interface_;
PositionInterface position_interface_;
VelocityInterface velocity_interface_;
HardwareInterface* active_interface_;
std::map<std::string, HardwareInterface*> available_interfaces_;
template <typename T>
void registerHardwareInterface(T* interface)
{
registerInterface<typename T::parent_type>(interface);
available_interfaces_[hardware_interface::internal::demangledTypeName<typename T::parent_type>()] = interface;
}
public:
RobotHardware(URCommander& commander, std::vector<std::string>& joint_names, double max_vel_change)
: joint_interface_(joint_names)
, wrench_interface_()
, position_interface_(commander, joint_interface_, joint_names)
, velocity_interface_(commander, joint_interface_, joint_names, max_vel_change)
{
registerInterface<hardware_interface::JointStateInterface>(&joint_interface_);
registerInterface<hardware_interface::ForceTorqueSensorInterface>(&wrench_interface_);
registerHardwareInterface(&position_interface_);
registerHardwareInterface(&velocity_interface_);
}
// bool canSwitch(const std::list<ControllerInfo>& start_list, const std::list<ControllerInfo>& stop_list) const;
void doSwitch(const std::list<ControllerInfo>& start_list, const std::list<ControllerInfo>& stop_list);
/// \brief Read the state from the robot hardware.
virtual void read(RTShared& packet);
/// \brief write the command to the robot hardware.
virtual void write();
};