safety_node.hpp File Reference

#include <chrono>
#include <memory>
#include <string>
#include <thread>
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "lifecycle_msgs/srv/change_state.hpp"
#include "lifecycle_msgs/srv/get_state.hpp"
#include "sensor_msgs/msg/joy.hpp"
#include "ecat_msgs/msg/gui_button_data.hpp"
#include "ecat_msgs/msg/data_received.hpp"
#include "rclcpp/rclcpp.hpp"
#include <std_srvs/srv/trigger.hpp>
#include "std_msgs/msg/u_int16.hpp"
#include "rcutils/logging_macros.h"
#include "ecat_globals.hpp"

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Enumerations
enum	SafetyInfo {   kSafe =0 , kOverForce , kOverSpeed , kOverPositionLimit ,   kErrorInDrive , kEmergencyStop }

Functions
template<typename FutureT , typename WaitTimeT >
std::future_status	wait_for_result (FutureT &future, WaitTimeT time_to_wait)

Variables
static constexpr char const *	lifecycle_node = "ecat_node"
static constexpr char const *	node_get_state_topic = "ecat_node/get_state"
static constexpr char const *	node_change_state_topic = "ecat_node/change_state"

Enumeration Type Documentation

SafetyInfo

enum SafetyInfo

Enumerator
kSafe
kOverForce
kOverSpeed
kOverPositionLimit
kErrorInDrive
kEmergencyStop

Function Documentation

wait_for_result()

template<typename FutureT , typename WaitTimeT >

std::future_status wait_for_result	(	FutureT &	future,
		WaitTimeT	time_to_wait
	)

Variable Documentation

lifecycle_node

constexpr char const* lifecycle_node = "ecat_node"

staticconstexpr

node_change_state_topic

constexpr char const* node_change_state_topic = "ecat_node/change_state"

staticconstexpr

node_get_state_topic

constexpr char const* node_get_state_topic = "ecat_node/get_state"

staticconstexpr