int NodeClass::init()
{
if (n.hasParam("ComPort"))
{
n.getParam("ComPort", sComPort);
ROS_INFO("Loaded ComPort parameter from parameter server: %s",sComPort.c_str());
}
else
{
sComPort ="/dev/ttyUSB0";
ROS_WARN("ComPort Parameter not available, using default Port: %s",sComPort.c_str());
}
n.param("message_timeout", relayboard_timeout_, 2.0);
n.param("protocol_version", protocol_version_, 1);
m_SerRelayBoard = new SerRelayBoard(sComPort, protocol_version_);
ROS_INFO("Opened Relayboard at ComPort = %s", sComPort.c_str());
m_SerRelayBoard->init();
// Init member variable for EM State
EM_stop_status_ = ST_EM_ACTIVE;
duration_for_EM_free_ = ros::Duration(1);
return 0;
}
int NodeClass::init() {
n.param<std::string>("cob_relayboard_node/ComPort", sComPort, "/dev/ttyUSB2");
m_SerRelayBoard = new SerRelayBoard(sComPort);
m_SerRelayBoard->init();
return 0;
}
int NodeClass::init() {
n.param<std::string>("cob_relayboard_node/ComPort", sComPort, "/dev/ttyUSB2");
m_SerRelayBoard = new SerRelayBoard(sComPort);
m_SerRelayBoard->init();
// Init member variable for EM State
EM_stop_status_ = ST_EM_FREE;
duration_for_EM_free_ = ros::Duration(1);
return 0;
}