base_controller::base_controller Class Reference

Inheritance diagram for base_controller::base_controller:

[legend]

List of all members.

Public Member Functions
def	__init__
def	cmdVelCallback
def	run
def	stop
Public Attributes
	enc_left
	enc_right
	encoder_error
	encoder_resolution
	finished
	gear_reduction
	mySerializer
	odomBroadcaster
	odomPub
	rate
	t_delta
	t_next
	th
	then
	ticks_per_meter
	wheel_track
	x
	y

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Detailed Description

Controller to handle movement & odometry feedback for a differential drive mobile base. 

Definition at line 33 of file base_controller.py.

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Member Function Documentation

def base_controller::base_controller::__init__	(		self,
			Serializer,
			name
	)

Definition at line 35 of file base_controller.py.

def base_controller::base_controller::cmdVelCallback	(		self,
			req
	)

Handle velocity-based movement requests. 

Definition at line 160 of file base_controller.py.

def base_controller::base_controller::run

(

self

)

Definition at line 75 of file base_controller.py.

def base_controller::base_controller::stop

(

self

)

Definition at line 180 of file base_controller.py.

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Member Data Documentation

base_controller::base_controller::enc_left

Definition at line 56 of file base_controller.py.

base_controller::base_controller::enc_right

Definition at line 57 of file base_controller.py.

base_controller::base_controller::encoder_error

Definition at line 61 of file base_controller.py.

base_controller::base_controller::encoder_resolution

Definition at line 47 of file base_controller.py.

base_controller::base_controller::finished

Definition at line 37 of file base_controller.py.

base_controller::base_controller::gear_reduction

Definition at line 46 of file base_controller.py.

base_controller::base_controller::mySerializer

Definition at line 40 of file base_controller.py.

base_controller::base_controller::odomBroadcaster

Definition at line 71 of file base_controller.py.

base_controller::base_controller::odomPub

Definition at line 70 of file base_controller.py.

base_controller::base_controller::rate

Definition at line 43 of file base_controller.py.

base_controller::base_controller::t_delta

Definition at line 51 of file base_controller.py.

base_controller::base_controller::t_next

Definition at line 52 of file base_controller.py.

base_controller::base_controller::th

Definition at line 60 of file base_controller.py.

base_controller::base_controller::then

Definition at line 53 of file base_controller.py.

base_controller::base_controller::ticks_per_meter

Definition at line 44 of file base_controller.py.

base_controller::base_controller::wheel_track

Definition at line 45 of file base_controller.py.

base_controller::base_controller::x

Definition at line 58 of file base_controller.py.

base_controller::base_controller::y

Definition at line 59 of file base_controller.py.

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

• base_controller.py