controller::BaseOdometry Class Reference

#include <pub_odometry.h>

Inheritance diagram for controller::BaseOdometry:

List of all members.

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Initializes all parameters needed for start publishing.
void	starting ()
	Start the thread and sets last publish times to now.
void	stopping ()
	Stops the thread.
void	update ()
	Updates the odometry and then checks if enough time has passed to publish something by calling the private publishing methods. Called periodically.
Private Member Functions
void	computeBaseVelocity ()
	Computes the linear x and y velocities and the angular (phi) velocity. Called by updateOdometry().
void	getOdometryMessage (nav_msgs::Odometry &msg)
	Sets the proper values in the message given as parameter. Calls populateCovariance(). Called by publish().
void	populateCovariance (nav_msgs::Odometry &msg)
	Sets the needed values in the covariance matrix of the message given as parameter. Called by getOdometryMessage().
void	publish ()
	Calls getOdometryMessage to 'create' an odometry message and publishes it. Calls getOdometryMessage(). Called by update().
void	publishTransform ()
	Publishes a new transformation message. Called by update().
void	updateOdometry ()
	Updates position (x,y,z,distance,angle) and updates the velocities by calling computeBaseVelocity(). Called by update().
Private Attributes
std::string	base_footprint_frame_
std::string	base_link_frame_
ros::NodeHandle	n
geometry_msgs::Point	odometry_
std::string	odometry_frame_
double	odometry_publish_rate_
geometry_msgs::Twist	odometry_vel_
pr2_mechanism_model::RobotState *	robot_
	pointer to robot
std::string	tf_prefix_
boost::scoped_ptr < realtime_tools::RealtimePublisher < nav_msgs::Odometry > >	odometry_publisher_
boost::scoped_ptr < realtime_tools::RealtimePublisher < tf::tfMessage > >	transform_publisher_
bool	publish_odometry_
bool	publish_tf_
double	sigma_x_
double	sigma_y_
double	sigma_theta_
double	cov_x_y_
double	cov_x_theta_
double	cov_y_theta_
ros::Time	last_time_
ros::Time	current_time_
ros::Time	last_odometry_publish_time_
ros::Time	last_transform_publish_time_
double	expected_publish_time_
double	update_time
pr2_mechanism_model::JointState *	wheel_inner_left_front_state
pr2_mechanism_model::JointState *	wheel_inner_left_rear_state
pr2_mechanism_model::JointState *	wheel_inner_right_front_state
pr2_mechanism_model::JointState *	wheel_inner_right_rear_state
double	current_vel_wheel_inner_left_front
double	current_vel_wheel_inner_right_front
double	current_vel_wheel_inner_left_rear
double	current_vel_wheel_inner_right_rear
double	current_vel_x
double	current_vel_y
double	current_vel_phi

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Detailed Description

Definition at line 65 of file pub_odometry.h.

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Member Function Documentation

void BaseOdometry::computeBaseVelocity

(

)

[private]

Computes the linear x and y velocities and the angular (phi) velocity. Called by updateOdometry().

this does not make sense, but works in simulation. Is gazebo capable of handling omniwheels??

Definition at line 212 of file pub_odometry.cpp.

void BaseOdometry::getOdometryMessage

(

nav_msgs::Odometry &

msg

)

[private]

Sets the proper values in the message given as parameter. Calls populateCovariance(). Called by publish().

Definition at line 249 of file pub_odometry.cpp.

bool BaseOdometry::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Initializes all parameters needed for start publishing.

Implements pr2_controller_interface::Controller.

Definition at line 64 of file pub_odometry.cpp.

void BaseOdometry::populateCovariance

(

nav_msgs::Odometry &

msg

)

[private]

Sets the needed values in the covariance matrix of the message given as parameter. Called by getOdometryMessage().

Definition at line 267 of file pub_odometry.cpp.

void BaseOdometry::publish

(

)

[private]

Calls getOdometryMessage to 'create' an odometry message and publishes it. Calls getOdometryMessage(). Called by update().

Definition at line 237 of file pub_odometry.cpp.

void BaseOdometry::publishTransform

(

)

[private]

Publishes a new transformation message. Called by update().

Definition at line 308 of file pub_odometry.cpp.

void BaseOdometry::starting

(

)

[virtual]

Start the thread and sets last publish times to now.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 166 of file pub_odometry.cpp.

void BaseOdometry::stopping

(

)

[virtual]

Stops the thread.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 191 of file pub_odometry.cpp.

void BaseOdometry::update

(

void

)

[virtual]

Updates the odometry and then checks if enough time has passed to publish something by calling the private publishing methods. Called periodically.

Implements pr2_controller_interface::Controller.

Definition at line 174 of file pub_odometry.cpp.

void BaseOdometry::updateOdometry

(

)

[private]

Updates position (x,y,z,distance,angle) and updates the velocities by calling computeBaseVelocity(). Called by update().

Definition at line 195 of file pub_odometry.cpp.

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Member Data Documentation

std::string controller::BaseOdometry::base_footprint_frame_ [private]

Definition at line 123 of file pub_odometry.h.

std::string controller::BaseOdometry::base_link_frame_ [private]

Definition at line 122 of file pub_odometry.h.

double controller::BaseOdometry::cov_x_theta_ [private]

Definition at line 128 of file pub_odometry.h.

double controller::BaseOdometry::cov_x_y_ [private]

Definition at line 128 of file pub_odometry.h.

double controller::BaseOdometry::cov_y_theta_ [private]

Definition at line 128 of file pub_odometry.h.

ros::Time controller::BaseOdometry::current_time_ [private]

Definition at line 133 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_phi [private]

Definition at line 150 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_wheel_inner_left_front [private]

Definition at line 146 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_wheel_inner_left_rear [private]

Definition at line 146 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_wheel_inner_right_front [private]

Definition at line 146 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_wheel_inner_right_rear [private]

Definition at line 146 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_x [private]

Definition at line 150 of file pub_odometry.h.

double controller::BaseOdometry::current_vel_y [private]

Definition at line 150 of file pub_odometry.h.

double controller::BaseOdometry::expected_publish_time_ [private]

Definition at line 137 of file pub_odometry.h.

ros::Time controller::BaseOdometry::last_odometry_publish_time_ [private]

Definition at line 135 of file pub_odometry.h.

ros::Time controller::BaseOdometry::last_time_ [private]

Definition at line 132 of file pub_odometry.h.

ros::Time controller::BaseOdometry::last_transform_publish_time_ [private]

Definition at line 135 of file pub_odometry.h.

ros::NodeHandle controller::BaseOdometry::n [private]

Definition at line 103 of file pub_odometry.h.

geometry_msgs::Point controller::BaseOdometry::odometry_ [private]

Definition at line 118 of file pub_odometry.h.

std::string controller::BaseOdometry::odometry_frame_ [private]

Definition at line 121 of file pub_odometry.h.

double controller::BaseOdometry::odometry_publish_rate_ [private]

Definition at line 113 of file pub_odometry.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher <nav_msgs::Odometry> > controller::BaseOdometry::odometry_publisher_ [private]

Definition at line 108 of file pub_odometry.h.

geometry_msgs::Twist controller::BaseOdometry::odometry_vel_ [private]

Definition at line 119 of file pub_odometry.h.

bool controller::BaseOdometry::publish_odometry_ [private]

Definition at line 115 of file pub_odometry.h.

bool controller::BaseOdometry::publish_tf_ [private]

Definition at line 115 of file pub_odometry.h.

pr2_mechanism_model::RobotState* controller::BaseOdometry::robot_ [private]

pointer to robot

Definition at line 105 of file pub_odometry.h.

double controller::BaseOdometry::sigma_theta_ [private]

Definition at line 128 of file pub_odometry.h.

double controller::BaseOdometry::sigma_x_ [private]

Covariance variables

Definition at line 128 of file pub_odometry.h.

double controller::BaseOdometry::sigma_y_ [private]

Definition at line 128 of file pub_odometry.h.

std::string controller::BaseOdometry::tf_prefix_ [private]

Definition at line 124 of file pub_odometry.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher <tf::tfMessage> > controller::BaseOdometry::transform_publisher_ [private]

Definition at line 110 of file pub_odometry.h.

double controller::BaseOdometry::update_time [private]

Definition at line 138 of file pub_odometry.h.

pr2_mechanism_model::JointState* controller::BaseOdometry::wheel_inner_left_front_state [private]

Definition at line 142 of file pub_odometry.h.

pr2_mechanism_model::JointState* controller::BaseOdometry::wheel_inner_left_rear_state [private]

Definition at line 143 of file pub_odometry.h.

pr2_mechanism_model::JointState* controller::BaseOdometry::wheel_inner_right_front_state [private]

Definition at line 144 of file pub_odometry.h.

pr2_mechanism_model::JointState* controller::BaseOdometry::wheel_inner_right_rear_state [private]

Definition at line 145 of file pub_odometry.h.

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

• pub_odometry.h
• pub_odometry.cpp