P2OSNode Class Reference

#include <p2os.h>

List of all members.

Public Member Functions
void	check_and_set_gripper_state ()
void	check_and_set_motor_state ()
void	check_and_set_vel ()
void	check_stall (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	check_voltage (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	cmdmotor_state (const p2os_driver::MotorStateConstPtr &)
void	cmdvel_cb (const geometry_msgs::TwistConstPtr &)
unsigned char	DegreesToTicks (int joint, double degrees)
double	get_pulse ()
void	gripperCallback (const p2os_driver::GripperStateConstPtr &msg)
	P2OSNode (ros::NodeHandle n)
unsigned char	RadiansToTicks (int joint, double rads)
double	RadsPerSectoSecsPerTick (int joint, double speed)
void	ResetRawPositions ()
double	SecsPerTicktoRadsPerSec (int joint, double secs)
void	SendPulse (void)
int	SendReceive (P2OSPacket *pkt, bool publish_data=true)
int	Setup ()
int	Shutdown ()
void	StandardSIPPutData (ros::Time ts)
double	TicksToDegrees (int joint, unsigned char ticks)
double	TicksToRadians (int joint, unsigned char ticks)
void	ToggleMotorPower (unsigned char val)
void	ToggleSonarPower (unsigned char val)
void	updateDiagnostics ()
virtual	~P2OSNode ()
Public Attributes
p2os_driver::MotorState	cmdmotor_state_
geometry_msgs::Twist	cmdvel_
p2os_driver::GripperState	gripper_state_
ros_p2os_data_t	p2os_data
Protected Attributes
ros::Publisher	aio_pub_
diagnostic_updater::DiagnosedPublisher < p2os_driver::BatteryState >	batt_pub_
int	bumpstall
ros::Subscriber	cmdmstate_sub_
ros::Subscriber	cmdvel_sub_
double	desired_freq
diagnostic_updater::Updater	diagnostic_
ros::Publisher	dio_pub_
int	direct_wheel_vel_control
ros::Publisher	grip_state_pub_
bool	gripper_dirty_
ros::Subscriber	gripper_sub_
int	joystick
double	lastPulseTime
bool	motor_dirty
short	motor_max_rot_accel
short	motor_max_rot_decel
int	motor_max_speed
short	motor_max_trans_accel
short	motor_max_trans_decel
int	motor_max_turnspeed
ros::Publisher	mstate_pub_
ros::NodeHandle	n
ros::NodeHandle	nh_private
tf::TransformBroadcaster	odom_broadcaster
int	param_idx
ros::Publisher	pose_pub_
int	psos_fd
std::string	psos_serial_port
std::string	psos_tcp_host
int	psos_tcp_port
bool	psos_use_tcp
P2OSPtz	ptz_
ros::Subscriber	ptz_cmd_sub_
ros::Publisher	ptz_state_pub_
double	pulse
int	radio_modemp
int	rot_ki
int	rot_kp
int	rot_kv
SIP *	sippacket
ros::Publisher	sonar_pub_
int	trans_ki
int	trans_kp
int	trans_kv
bool	use_sonar_
bool	vel_dirty
ros::Time	veltime

---

Detailed Description

Definition at line 73 of file p2os.h.

---

Constructor & Destructor Documentation

P2OSNode::P2OSNode

(

ros::NodeHandle

n

)

Definition at line 32 of file p2os.cc.

P2OSNode::~P2OSNode

(

)

[virtual]

Definition at line 124 of file p2os.cc.

---

Member Function Documentation

void P2OSNode::check_and_set_gripper_state

(

)

Definition at line 156 of file p2os.cc.

void P2OSNode::check_and_set_motor_state

(

)

Definition at line 136 of file p2os.cc.

void P2OSNode::check_and_set_vel

(

)

Definition at line 209 of file p2os.cc.

void P2OSNode::check_stall

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Definition at line 812 of file p2os.cc.

void P2OSNode::check_voltage

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Definition at line 794 of file p2os.cc.

void P2OSNode::cmdmotor_state

(

const p2os_driver::MotorStateConstPtr &

msg

)

Definition at line 129 of file p2os.cc.

void P2OSNode::cmdvel_cb

(

const geometry_msgs::TwistConstPtr &

msg

)

Definition at line 185 of file p2os.cc.

unsigned char P2OSNode::DegreesToTicks	(	int	joint,
		double	degrees
	)			[inline]

Definition at line 896 of file p2os.cc.

double P2OSNode::get_pulse

(

)

[inline]

Definition at line 109 of file p2os.h.

void P2OSNode::gripperCallback

(

const p2os_driver::GripperStateConstPtr &

msg

)

Definition at line 266 of file p2os.cc.

unsigned char P2OSNode::RadiansToTicks	(	int	joint,
		double	rads
	)			[inline]

Definition at line 923 of file p2os.cc.

double P2OSNode::RadsPerSectoSecsPerTick	(	int	joint,
		double	speed
	)			[inline]

Definition at line 929 of file p2os.cc.

void P2OSNode::ResetRawPositions

(

)

Definition at line 825 of file p2os.cc.

double P2OSNode::SecsPerTicktoRadsPerSec	(	int	joint,
		double	secs
	)			[inline]

Definition at line 943 of file p2os.cc.

void P2OSNode::SendPulse

(

void

)

Definition at line 953 of file p2os.cc.

int P2OSNode::SendReceive	(	P2OSPacket *	pkt,
		bool	publish_data = true
	)

Definition at line 727 of file p2os.cc.

int P2OSNode::Setup

(

)

Definition at line 273 of file p2os.cc.

int P2OSNode::Shutdown

(

)

Definition at line 659 of file p2os.cc.

void P2OSNode::StandardSIPPutData

(

ros::Time

ts

)

Definition at line 695 of file p2os.cc.

double P2OSNode::TicksToDegrees	(	int	joint,
		unsigned char	ticks
	)			[inline]

Definition at line 880 of file p2os.cc.

double P2OSNode::TicksToRadians	(	int	joint,
		unsigned char	ticks
	)			[inline]

Definition at line 917 of file p2os.cc.

void P2OSNode::ToggleMotorPower

(

unsigned char

val

)

Definition at line 861 of file p2os.cc.

void P2OSNode::ToggleSonarPower

(

unsigned char

val

)

Definition at line 846 of file p2os.cc.

void P2OSNode::updateDiagnostics

(

)

Definition at line 788 of file p2os.cc.

---

Member Data Documentation

ros::Publisher P2OSNode::aio_pub_ [protected]

Definition at line 122 of file p2os.h.

diagnostic_updater::DiagnosedPublisher<p2os_driver::BatteryState> P2OSNode::batt_pub_ [protected]

Definition at line 121 of file p2os.h.

int P2OSNode::bumpstall [protected]

Definition at line 141 of file p2os.h.

p2os_driver::MotorState P2OSNode::cmdmotor_state_

Definition at line 159 of file p2os.h.

ros::Subscriber P2OSNode::cmdmstate_sub_ [protected]

Definition at line 124 of file p2os.h.

geometry_msgs::Twist P2OSNode::cmdvel_

Definition at line 158 of file p2os.h.

ros::Subscriber P2OSNode::cmdvel_sub_ [protected]

Definition at line 124 of file p2os.h.

double P2OSNode::desired_freq [protected]

Definition at line 151 of file p2os.h.

diagnostic_updater::Updater P2OSNode::diagnostic_ [protected]

Definition at line 119 of file p2os.h.

ros::Publisher P2OSNode::dio_pub_ [protected]

Definition at line 122 of file p2os.h.

int P2OSNode::direct_wheel_vel_control [protected]

Definition at line 143 of file p2os.h.

ros::Publisher P2OSNode::grip_state_pub_ [protected]

Definition at line 122 of file p2os.h.

bool P2OSNode::gripper_dirty_ [protected]

Definition at line 136 of file p2os.h.

p2os_driver::GripperState P2OSNode::gripper_state_

Definition at line 160 of file p2os.h.

ros::Subscriber P2OSNode::gripper_sub_ [protected]

Definition at line 124 of file p2os.h.

int P2OSNode::joystick [protected]

Definition at line 142 of file p2os.h.

double P2OSNode::lastPulseTime [protected]

Definition at line 152 of file p2os.h.

bool P2OSNode::motor_dirty [protected]

Definition at line 135 of file p2os.h.

short P2OSNode::motor_max_rot_accel [protected]

Definition at line 149 of file p2os.h.

short P2OSNode::motor_max_rot_decel [protected]

Definition at line 149 of file p2os.h.

int P2OSNode::motor_max_speed [protected]

Definition at line 146 of file p2os.h.

short P2OSNode::motor_max_trans_accel [protected]

Definition at line 148 of file p2os.h.

short P2OSNode::motor_max_trans_decel [protected]

Definition at line 148 of file p2os.h.

int P2OSNode::motor_max_turnspeed [protected]

Definition at line 147 of file p2os.h.

ros::Publisher P2OSNode::mstate_pub_ [protected]

Definition at line 122 of file p2os.h.

ros::NodeHandle P2OSNode::n [protected]

Definition at line 116 of file p2os.h.

ros::NodeHandle P2OSNode::nh_private [protected]

Definition at line 117 of file p2os.h.

tf::TransformBroadcaster P2OSNode::odom_broadcaster [protected]

Definition at line 126 of file p2os.h.

ros_p2os_data_t P2OSNode::p2os_data

Definition at line 161 of file p2os.h.

int P2OSNode::param_idx [protected]

Definition at line 137 of file p2os.h.

ros::Publisher P2OSNode::pose_pub_ [protected]

Definition at line 122 of file p2os.h.

int P2OSNode::psos_fd [protected]

Definition at line 132 of file p2os.h.

std::string P2OSNode::psos_serial_port [protected]

Definition at line 130 of file p2os.h.

std::string P2OSNode::psos_tcp_host [protected]

Definition at line 131 of file p2os.h.

int P2OSNode::psos_tcp_port [protected]

Definition at line 134 of file p2os.h.

bool P2OSNode::psos_use_tcp [protected]

Definition at line 133 of file p2os.h.

P2OSPtz P2OSNode::ptz_ [protected]

Definition at line 155 of file p2os.h.

ros::Subscriber P2OSNode::ptz_cmd_sub_ [protected]

Definition at line 124 of file p2os.h.

ros::Publisher P2OSNode::ptz_state_pub_ [protected]

Definition at line 122 of file p2os.h.

double P2OSNode::pulse [protected]

Definition at line 150 of file p2os.h.

int P2OSNode::radio_modemp [protected]

Definition at line 144 of file p2os.h.

int P2OSNode::rot_ki [protected]

Definition at line 139 of file p2os.h.

int P2OSNode::rot_kp [protected]

Definition at line 139 of file p2os.h.

int P2OSNode::rot_kv [protected]

Definition at line 139 of file p2os.h.

SIP* P2OSNode::sippacket [protected]

Definition at line 129 of file p2os.h.

ros::Publisher P2OSNode::sonar_pub_ [protected]

Definition at line 122 of file p2os.h.

int P2OSNode::trans_ki [protected]

Definition at line 139 of file p2os.h.

int P2OSNode::trans_kp [protected]

Definition at line 139 of file p2os.h.

int P2OSNode::trans_kv [protected]

Definition at line 139 of file p2os.h.

bool P2OSNode::use_sonar_ [protected]

Definition at line 153 of file p2os.h.

bool P2OSNode::vel_dirty [protected]

Definition at line 135 of file p2os.h.

ros::Time P2OSNode::veltime [protected]

Definition at line 127 of file p2os.h.

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

• p2os.h
• p2os.cc