NavQueueMgr Class Reference

Public Member Functions
	NavQueueMgr ()
bool	setup (ros::NodeHandle node)
bool	shutdown ()
void	spin (void)
	~NavQueueMgr ()
Private Member Functions
void	processNavCmd (const art_msgs::NavigatorCommand::ConstPtr &cmdIn)
void	processOdom (const nav_msgs::Odometry::ConstPtr &odomIn)
void	processRelays (const art_msgs::IOadrState::ConstPtr &sigIn)
void	processRoadMap (const art_msgs::ArtLanes::ConstPtr &cmdIn)
void	PublishState (void)
void	reconfig (Config &newconfig, uint32_t level)
void	SetRelays (void)
void	SetSpeed (pilot_command_t pcmd)
Private Attributes
bool	alarm_on_
ros::Publisher	car_cmd_
dynamic_reconfigure::Server < Config >	ccb_
ros::Time	cmd_time_
bool	flasher_on_
ros::Time	map_time_
Navigator *	nav_
ros::Subscriber	nav_cmd_
ros::Publisher	nav_state_
nav_msgs::Odometry	odom_msg_
ros::Subscriber	odom_state_
ros::Subscriber	roadmap_
bool	signal_on_left_
bool	signal_on_right_
ros::Publisher	signals_cmd_
ros::Subscriber	signals_state_

Detailed Description

Definition at line 44 of file queue_mgr.cc.

NavQueueMgr::NavQueueMgr ( )

constructor

Definition at line 102 of file queue_mgr.cc.

NavQueueMgr::~NavQueueMgr ( ) [inline]

Definition at line 50 of file queue_mgr.cc.

void NavQueueMgr::processNavCmd ( const art_msgs::NavigatorCommand::ConstPtr & cmdIn ) [private]

Handle command input.

Definition at line 113 of file queue_mgr.cc.

void NavQueueMgr::processOdom ( const nav_msgs::Odometry::ConstPtr & odomIn ) [private]

Handle Odometry input.

Definition at line 123 of file queue_mgr.cc.

void NavQueueMgr::processRelays ( const art_msgs::IOadrState::ConstPtr & sigIn ) [private]

Handle relays state message.

Definition at line 147 of file queue_mgr.cc.

void NavQueueMgr::processRoadMap ( const art_msgs::ArtLanes::ConstPtr & mapIn ) [private]

Handle road map polygons.

Definition at line 139 of file queue_mgr.cc.

void NavQueueMgr::PublishState ( void ) [private]

Publish current navigator state data

Definition at line 323 of file queue_mgr.cc.

handle dynamic reconfigure service request

Parameters:

	newconfig	new configuration from dynamic reconfigure client, becomes the service reply message as updated here.
	level	SensorLevels value (0xffffffff on initial call)

This is done without any locking because it is called in the same thread as ros::spinOnce() and the topic subscription callbacks.

Definition at line 190 of file queue_mgr.cc.

void NavQueueMgr::SetRelays ( void ) [private]

Set or reset relays

Precondition:: signal_on_left_, signal_on_right_, flasher_on_ and alarm_on_ reflect the most recently reported states of those relays;; nav_->navdata contains desired signal relay states

Definition at line 249 of file queue_mgr.cc.

void NavQueueMgr::SetSpeed ( pilot_command_t pcmd ) [private]

Send a command to the pilot

Definition at line 296 of file queue_mgr.cc.

bool NavQueueMgr::setup ( ros::NodeHandle node )

Set up ROS topics for navigator node

Definition at line 198 of file queue_mgr.cc.

bool NavQueueMgr::shutdown ( void )

Definition at line 224 of file queue_mgr.cc.

void NavQueueMgr::spin ( void )

Spin method for main thread

Definition at line 345 of file queue_mgr.cc.