state_tf.cpp File Reference

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include "math.h"
#include "corobot_msgs/PosMsg.h"
#include "nav_msgs/Odometry.h"
#include <dynamic_reconfigure/server.h>
#include <corobot_state_tf/corobot_state_tfConfig.h>

Include dependency graph for state_tf.cpp:

Go to the source code of this file.

Functions
void	dynamic_reconfigureCallback (corobot_state_tf::corobot_state_tfConfig &config, uint32_t level)
int	main (int argc, char **argv)
void	WheelCallback (const corobot_msgs::PosMsg::ConstPtr &pos)
Variables
long	_PreviousLeftEncoderCounts = 0
long	_PreviousRightEncoderCounts = 0
ros::Time	current_time_encoder
double	DistancePerCount
double	dt
int	firstTime
bool	isCorobot4WD
bool	isExplorer
ros::Time	last_time_encoder
double	lengthBetweenTwoWheels
bool	odometry_activated = true
bool	publish_odom_tf
double	th
double	vth
double	vx
double	vy
double	x
double	y

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Function Documentation

void dynamic_reconfigureCallback	(	corobot_state_tf::corobot_state_tfConfig &	config,
		uint32_t	level
	)

Definition at line 74 of file state_tf.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 78 of file state_tf.cpp.

void WheelCallback

(

const corobot_msgs::PosMsg::ConstPtr &

pos

)

Definition at line 37 of file state_tf.cpp.

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Variable Documentation

long _PreviousLeftEncoderCounts = 0

Definition at line 9 of file state_tf.cpp.

long _PreviousRightEncoderCounts = 0

Definition at line 10 of file state_tf.cpp.

ros::Time current_time_encoder

Definition at line 11 of file state_tf.cpp.

double DistancePerCount

Definition at line 12 of file state_tf.cpp.

double dt

Definition at line 31 of file state_tf.cpp.

int firstTime

Definition at line 33 of file state_tf.cpp.

bool isCorobot4WD

Definition at line 34 of file state_tf.cpp.

bool isExplorer

Definition at line 34 of file state_tf.cpp.

ros::Time last_time_encoder

Definition at line 11 of file state_tf.cpp.

double lengthBetweenTwoWheels

Definition at line 13 of file state_tf.cpp.

bool odometry_activated = true

Definition at line 35 of file state_tf.cpp.

bool publish_odom_tf

Definition at line 34 of file state_tf.cpp.

double th

Definition at line 26 of file state_tf.cpp.

double vth

Definition at line 30 of file state_tf.cpp.

double vx

Definition at line 28 of file state_tf.cpp.

double vy

Definition at line 29 of file state_tf.cpp.

double x

Definition at line 24 of file state_tf.cpp.

double y

Definition at line 25 of file state_tf.cpp.