Ros Class Reference

#include <Ros.h>

List of all members.

Public Slots
void	corobot (bool value)
void	currentCameraTabChanged (int index)
bool	decrease_speed ()
bool	increase_backward_speed ()
bool	increase_speed ()
bool	motor_stop ()
void	moveElbowArm (double elbow)
void	moveGripper (bool state)
void	moveShoulderArm (double shoulder)
void	ResetArm ()
void	rotateArm (double angle)
void	select_kinect (bool value)
void	setSpeedFast (bool toggled)
void	setSpeedModerate (bool toggled)
void	setSpeedSlow (bool toggled)
bool	stop_turn ()
bool	turn_left ()
bool	turn_right ()
void	turnWrist (float angle)
Signals
void	angleWristReal (double angle)
void	arm_model (bool arm_al5a, bool arm_pincher, bool arm_reactor, bool arm_old_corobot)
void	battery_percent (int value)
void	battery_volts (double volts)
void	bumper_update (int bumper1, int bumper2, int bumper3, int bumper4)
void	gps_coord (double lat, double lon)
void	gps_lat (double lat)
void	gps_lon (double lon)
void	griperState (int state)
void	hokuyo_update (Hokuyo_Points *hokuyo_points)
void	irData (double ir01, double ir02)
void	posArmReal (double x, double y)
void	spatial_data (double acc_x, double acc_y, double acc_z, double ang_x, double ang_y, double ang_z, double mag_x, double mag_y, double mag_z)
void	update_kinectDepthcam (QImage image)
void	update_kinectRGBcam (QImage image)
void	update_mapimage (QImage image)
void	update_ptzcam (QImage image)
void	update_rearcam (QImage image)
void	velocity_info (double linear, double angular)
Public Member Functions
void	add_allcam_scene (QGraphicsScene *scene)
void	add_camera_info_scene (QGraphicsScene *scene)
void	add_front_image_scene (QGraphicsScene *scene)
void	add_kinect_depth_scene (QGraphicsScene *scene)
void	add_kinect_rgb_scene (QGraphicsScene *scene)
void	add_map_image_scene (QGraphicsScene *scene)
void	add_ptz_cam_scene (QGraphicsScene *scene)
void	add_rear_cam_scene (QGraphicsScene *scene)
void	bumperCallback (const corobot_msgs::BumperMsg::ConstPtr &msg)
void	cameraImageCallback (const sensor_msgs::Image::ConstPtr &msg)
void	cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
void	closeGripper ()
void	gpsCallback (const sensor_msgs::NavSatFix::ConstPtr &msg)
void	gripperCallback (const corobot_msgs::GripperMsg::ConstPtr &msg)
void	init ()
void	init (const std::string &master, const std::string &host)
void	irCallback (const corobot_msgs::IrMsg::ConstPtr &msg)
void	kinectdepthCallback (const sensor_msgs::Image::ConstPtr &msg)
void	kinectrgbCallback (const sensor_msgs::CompressedImage::ConstPtr &msg)
void	mapCallback (const sensor_msgs::CompressedImage::ConstPtr &msg)
void	openGripper ()
void	phidgetinfoCallback (const corobot_msgs::phidget_info::ConstPtr &msg)
void	powerCallback (const corobot_msgs::PowerMsgConstPtr &msg)
void	ptz_camCallback (const sensor_msgs::Image::ConstPtr &msg)
void	ptz_camCallback_compressed (const sensor_msgs::CompressedImage::ConstPtr &msg)
void	rear_camCallback (const sensor_msgs::Image::ConstPtr &msg)
void	rear_camCallback_compressed (const sensor_msgs::CompressedImage::ConstPtr &msg)
void	resetArm ()
bool	resetOdom ()
	Ros ()
void	run ()
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &msg)
bool	setCameraControl (int id, int value)
bool	setCameraMode (int width, int weight, bool immediately, int fps, bool auto_exposure)
bool	setCameraState (bool state)
bool	setOdom (float x, float y)
bool	setPtzcommand (int pan, int tilt)
bool	setPtzmode (int mode)
void	spatialCallback (const corobot_msgs::spatial::ConstPtr &msg)
void	ssc32infoCallback (const corobot_msgs::ssc32_info::ConstPtr &msg)
void	subscribe ()
void	takepicCallback (const corobot_msgs::takepic::ConstPtr &msg)
void	velocityCallback (const nav_msgs::Odometry::ConstPtr &msg)
	~Ros ()
Public Attributes
int	backwardspeed [3]
int	forwardspeed [3]
int	forwardspeed_chosen
Hokuyo_Points *	hokuyo_points_
int	left_motor_value
int	move_speed_level
int	pan
ros::Publisher	pan_tilt_control
int	right_motor_value
int	tilt
int	turning_speed_level
int	turnleftspeed
int	turnrightspeed
Private Member Functions
void	timerCallback (const ros::TimerEvent &event)
Private Attributes
ros::Subscriber	arm
bool	arm_al5a
bool	arm_old_phidget
bool	arm_old_ssc32
bool	arm_pincher
float	arm_px
float	arm_py
bool	arm_reactor
ros::Subscriber	bumper
bool	cameraFront_jpeg_compression
ros::Subscriber	cameraImage
ros::Subscriber	cameraInfo
bool	cameraRear_jpeg_compression
bool	Corobot
ros::Publisher	driveControl_pub
ros::Subscriber	gps
ros::Subscriber	gripper
Image	image_camera
Image	image_front_cam
Image	image_kinect_depth
Image	image_kinect_rgb
Image	image_map_image
Image	image_ptz_cam
Image	image_rear_cam
bool	initialized
ros::Subscriber	ir
ros::Subscriber	kinect_depth
ros::Subscriber	kinect_rgb
bool	kinect_selected
ros::Subscriber	kinect_skel
ros::Subscriber	map_image
ros::Publisher	moveArm_pub
ros::Subscriber	phidget_info_sub
ros::Subscriber	power
ros::Subscriber	ptz
ros::Subscriber	ptz_cam
ros::Subscriber	rear_cam
ros::Subscriber	scan
QGraphicsScene *	scenes
QGraphicsScene *	scenes_front_image
QGraphicsScene *	scenes_kinect_depth
QGraphicsScene *	scenes_kinect_rgb
QGraphicsScene *	scenes_map_image
QGraphicsScene *	scenes_ptz_cam
QGraphicsScene *	scenes_rear_cam
ros::ServiceClient	setOdom_client
ros::Subscriber	spatial
float	speed_a
float	speed_left
float	speed_right
int	speed_value
float	speed_x
ros::Subscriber	ssc32_info_sub
ros::Subscriber	takepic_sub
ros::Timer	timer
bool	turningLeft
bool	turningRight
ros::Subscriber	velocity
ros::Publisher	velocityValue_pub

---

Detailed Description

Definition at line 48 of file Ros.h.

---

Constructor & Destructor Documentation

Ros::~Ros

(

)

Definition at line 47 of file Ros.cpp.

Ros::Ros

(

)

Definition at line 14 of file Ros.cpp.

---

Member Function Documentation

void Ros::add_allcam_scene

(

QGraphicsScene *

scene

)

void Ros::add_camera_info_scene

(

QGraphicsScene *

scene

)

Definition at line 551 of file Ros.cpp.

void Ros::add_front_image_scene

(

QGraphicsScene *

scene

)

Definition at line 573 of file Ros.cpp.

void Ros::add_kinect_depth_scene

(

QGraphicsScene *

scene

)

Definition at line 596 of file Ros.cpp.

void Ros::add_kinect_rgb_scene

(

QGraphicsScene *

scene

)

Definition at line 587 of file Ros.cpp.

void Ros::add_map_image_scene

(

QGraphicsScene *

scene

)

Definition at line 566 of file Ros.cpp.

void Ros::add_ptz_cam_scene

(

QGraphicsScene *

scene

)

Definition at line 580 of file Ros.cpp.

void Ros::add_rear_cam_scene

(

QGraphicsScene *

scene

)

Definition at line 559 of file Ros.cpp.

void Ros::angleWristReal

(

double

angle

)

[signal]

void Ros::arm_model	(	bool	arm_al5a,
		bool	arm_pincher,
		bool	arm_reactor,
		bool	arm_old_corobot
	)		[signal]

void Ros::battery_percent

(

int

value

)

[signal]

void Ros::battery_volts

(

double

volts

)

[signal]

void Ros::bumper_update	(	int	bumper1,
		int	bumper2,
		int	bumper3,
		int	bumper4
	)		[signal]

void Ros::bumperCallback

(

const corobot_msgs::BumperMsg::ConstPtr &

msg

)

Definition at line 321 of file Ros.cpp.

void Ros::cameraImageCallback

(

const sensor_msgs::Image::ConstPtr &

msg

)

Definition at line 333 of file Ros.cpp.

void Ros::cameraInfoCallback

(

const sensor_msgs::CameraInfo::ConstPtr &

msg

)

Definition at line 330 of file Ros.cpp.

void Ros::closeGripper

(

)

Definition at line 670 of file Ros.cpp.

void Ros::corobot

(

bool

value

)

[slot]

Definition at line 608 of file Ros.cpp.

void Ros::currentCameraTabChanged

(

int

index

)

[slot]

Definition at line 131 of file Ros.cpp.

bool Ros::decrease_speed

(

)

[slot]

Definition at line 736 of file Ros.cpp.

void Ros::gps_coord	(	double	lat,
		double	lon
	)		[signal]

void Ros::gps_lat

(

double

lat

)

[signal]

void Ros::gps_lon

(

double

lon

)

[signal]

void Ros::gpsCallback

(

const sensor_msgs::NavSatFix::ConstPtr &

msg

)

Definition at line 437 of file Ros.cpp.

void Ros::griperState

(

int

state

)

[signal]

void Ros::gripperCallback

(

const corobot_msgs::GripperMsg::ConstPtr &

msg

)

Definition at line 325 of file Ros.cpp.

void Ros::hokuyo_update

(

Hokuyo_Points *

hokuyo_points

)

[signal]

bool Ros::increase_backward_speed

(

)

[slot]

Definition at line 798 of file Ros.cpp.

bool Ros::increase_speed

(

)

[slot]

Definition at line 771 of file Ros.cpp.

void Ros::init

(

)

Definition at line 120 of file Ros.cpp.

void Ros::init	(	const std::string &	master,
		const std::string &	host
	)

Definition at line 180 of file Ros.cpp.

void Ros::irCallback

(

const corobot_msgs::IrMsg::ConstPtr &

msg

)

Definition at line 298 of file Ros.cpp.

void Ros::irData	(	double	ir01,
		double	ir02
	)		[signal]

void Ros::kinectdepthCallback

(

const sensor_msgs::Image::ConstPtr &

msg

)

Definition at line 219 of file Ros.cpp.

void Ros::kinectrgbCallback

(

const sensor_msgs::CompressedImage::ConstPtr &

msg

)

Definition at line 268 of file Ros.cpp.

void Ros::mapCallback

(

const sensor_msgs::CompressedImage::ConstPtr &

msg

)

Definition at line 422 of file Ros.cpp.

bool Ros::motor_stop

(

)

[slot]

Definition at line 940 of file Ros.cpp.

void Ros::moveElbowArm

(

double

elbow

)

[slot]

Definition at line 971 of file Ros.cpp.

void Ros::moveGripper

(

bool

state

)

[slot]

Definition at line 544 of file Ros.cpp.

void Ros::moveShoulderArm

(

double

shoulder

)

[slot]

Definition at line 958 of file Ros.cpp.

void Ros::openGripper

(

)

Definition at line 657 of file Ros.cpp.

void Ros::phidgetinfoCallback

(

const corobot_msgs::phidget_info::ConstPtr &

msg

)

Definition at line 504 of file Ros.cpp.

void Ros::posArmReal	(	double	x,
		double	y
	)		[signal]

void Ros::powerCallback

(

const corobot_msgs::PowerMsgConstPtr &

msg

)

Definition at line 311 of file Ros.cpp.

void Ros::ptz_camCallback

(

const sensor_msgs::Image::ConstPtr &

msg

)

Definition at line 387 of file Ros.cpp.

void Ros::ptz_camCallback_compressed

(

const sensor_msgs::CompressedImage::ConstPtr &

msg

)

Definition at line 403 of file Ros.cpp.

void Ros::rear_camCallback

(

const sensor_msgs::Image::ConstPtr &

msg

)

Definition at line 353 of file Ros.cpp.

void Ros::rear_camCallback_compressed

(

const sensor_msgs::CompressedImage::ConstPtr &

msg

)

Definition at line 368 of file Ros.cpp.

void Ros::ResetArm

(

)

[slot]

Definition at line 997 of file Ros.cpp.

void Ros::resetArm

(

)

bool Ros::resetOdom

(

)

void Ros::rotateArm

(

double

angle

)

[slot]

Definition at line 984 of file Ros.cpp.

void Ros::run

(

)

Definition at line 523 of file Ros.cpp.

void Ros::scanCallback

(

const sensor_msgs::LaserScan::ConstPtr &

msg

)

Definition at line 450 of file Ros.cpp.

void Ros::select_kinect

(

bool

value

)

[slot]

Definition at line 285 of file Ros.cpp.

bool Ros::setCameraControl	(	int	id,
		int	value
	)

Definition at line 684 of file Ros.cpp.

bool Ros::setCameraMode	(	int	width,
		int	weight,
		bool	immediately,
		int	fps,
		bool	auto_exposure
	)

Definition at line 706 of file Ros.cpp.

bool Ros::setCameraState

(

bool

state

)

Definition at line 694 of file Ros.cpp.

bool Ros::setOdom	(	float	x,
		float	y
	)

Definition at line 613 of file Ros.cpp.

bool Ros::setPtzcommand	(	int	pan,
		int	tilt
	)

bool Ros::setPtzmode

(

int

mode

)

void Ros::setSpeedFast

(

bool

toggled

)

[slot]

Definition at line 191 of file Ros.cpp.

void Ros::setSpeedModerate

(

bool

toggled

)

[slot]

Definition at line 200 of file Ros.cpp.

void Ros::setSpeedSlow

(

bool

toggled

)

[slot]

Definition at line 209 of file Ros.cpp.

void Ros::spatial_data	(	double	acc_x,
		double	acc_y,
		double	acc_z,
		double	ang_x,
		double	ang_y,
		double	ang_z,
		double	mag_x,
		double	mag_y,
		double	mag_z
	)		[signal]

void Ros::spatialCallback

(

const corobot_msgs::spatial::ConstPtr &

msg

)

Definition at line 527 of file Ros.cpp.

void Ros::ssc32infoCallback

(

const corobot_msgs::ssc32_info::ConstPtr &

msg

)

Definition at line 496 of file Ros.cpp.

bool Ros::stop_turn

(

)

[slot]

Definition at line 903 of file Ros.cpp.

void Ros::subscribe

(

)

Definition at line 54 of file Ros.cpp.

void Ros::takepicCallback

(

const corobot_msgs::takepic::ConstPtr &

msg

)

Definition at line 515 of file Ros.cpp.

void Ros::timerCallback

(

const ros::TimerEvent &

event

)

[private]

Definition at line 722 of file Ros.cpp.

bool Ros::turn_left

(

)

[slot]

Definition at line 823 of file Ros.cpp.

bool Ros::turn_right

(

)

[slot]

Definition at line 864 of file Ros.cpp.

void Ros::turnWrist

(

float

angle

)

[slot]

Definition at line 625 of file Ros.cpp.

void Ros::update_kinectDepthcam

(

QImage

image

)

[signal]

void Ros::update_kinectRGBcam

(

QImage

image

)

[signal]

void Ros::update_mapimage

(

QImage

image

)

[signal]

void Ros::update_ptzcam

(

QImage

image

)

[signal]

void Ros::update_rearcam

(

QImage

image

)

[signal]

void Ros::velocity_info	(	double	linear,
		double	angular
	)		[signal]

void Ros::velocityCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 290 of file Ros.cpp.

---

Member Data Documentation

ros::Subscriber Ros::arm [private]

Definition at line 59 of file Ros.h.

bool Ros::arm_al5a [private]

Definition at line 79 of file Ros.h.

bool Ros::arm_old_phidget [private]

Definition at line 79 of file Ros.h.

bool Ros::arm_old_ssc32 [private]

Definition at line 79 of file Ros.h.

bool Ros::arm_pincher [private]

Definition at line 79 of file Ros.h.

float Ros::arm_px [private]

Definition at line 84 of file Ros.h.

float Ros::arm_py [private]

Definition at line 84 of file Ros.h.

bool Ros::arm_reactor [private]

Definition at line 79 of file Ros.h.

int Ros::backwardspeed[3]

Definition at line 234 of file Ros.h.

ros::Subscriber Ros::bumper [private]

Definition at line 59 of file Ros.h.

bool Ros::cameraFront_jpeg_compression [private]

Definition at line 78 of file Ros.h.

ros::Subscriber Ros::cameraImage [private]

Definition at line 59 of file Ros.h.

ros::Subscriber Ros::cameraInfo [private]

Definition at line 59 of file Ros.h.

bool Ros::cameraRear_jpeg_compression [private]

Definition at line 78 of file Ros.h.

bool Ros::Corobot [private]

Definition at line 102 of file Ros.h.

ros::Publisher Ros::driveControl_pub [private]

Definition at line 64 of file Ros.h.

int Ros::forwardspeed[3]

Definition at line 233 of file Ros.h.

int Ros::forwardspeed_chosen

Definition at line 235 of file Ros.h.

ros::Subscriber Ros::gps [private]

Definition at line 60 of file Ros.h.

ros::Subscriber Ros::gripper [private]

Definition at line 59 of file Ros.h.

Hokuyo_Points* Ros::hokuyo_points_

Definition at line 244 of file Ros.h.

Image Ros::image_camera [private]

Definition at line 106 of file Ros.h.

Image Ros::image_front_cam [private]

Definition at line 109 of file Ros.h.

Image Ros::image_kinect_depth [private]

Definition at line 104 of file Ros.h.

Image Ros::image_kinect_rgb [private]

Definition at line 105 of file Ros.h.

Image Ros::image_map_image [private]

Definition at line 110 of file Ros.h.

Image Ros::image_ptz_cam [private]

Definition at line 108 of file Ros.h.

Image Ros::image_rear_cam [private]

Definition at line 107 of file Ros.h.

bool Ros::initialized [private]

Definition at line 83 of file Ros.h.

ros::Subscriber Ros::ir [private]

Definition at line 59 of file Ros.h.

ros::Subscriber Ros::kinect_depth [private]

Definition at line 60 of file Ros.h.

ros::Subscriber Ros::kinect_rgb [private]

Definition at line 60 of file Ros.h.

bool Ros::kinect_selected [private]

Definition at line 90 of file Ros.h.

ros::Subscriber Ros::kinect_skel [private]

Definition at line 60 of file Ros.h.

int Ros::left_motor_value

Definition at line 239 of file Ros.h.

ros::Subscriber Ros::map_image [private]

Definition at line 59 of file Ros.h.

int Ros::move_speed_level

Definition at line 241 of file Ros.h.

ros::Publisher Ros::moveArm_pub [private]

Definition at line 64 of file Ros.h.

int Ros::pan

Definition at line 232 of file Ros.h.

ros::Publisher Ros::pan_tilt_control

Definition at line 172 of file Ros.h.

ros::Subscriber Ros::phidget_info_sub [private]

Definition at line 67 of file Ros.h.

ros::Subscriber Ros::power [private]

Definition at line 59 of file Ros.h.

ros::Subscriber Ros::ptz [private]

Definition at line 59 of file Ros.h.

ros::Subscriber Ros::ptz_cam [private]

Definition at line 61 of file Ros.h.

ros::Subscriber Ros::rear_cam [private]

Definition at line 61 of file Ros.h.

int Ros::right_motor_value

Definition at line 240 of file Ros.h.

ros::Subscriber Ros::scan [private]

Definition at line 60 of file Ros.h.

QGraphicsScene* Ros::scenes [private]

Definition at line 97 of file Ros.h.

QGraphicsScene* Ros::scenes_front_image [private]

Definition at line 94 of file Ros.h.

QGraphicsScene* Ros::scenes_kinect_depth [private]

Definition at line 99 of file Ros.h.

QGraphicsScene* Ros::scenes_kinect_rgb [private]

Definition at line 98 of file Ros.h.

QGraphicsScene* Ros::scenes_map_image [private]

Definition at line 93 of file Ros.h.

QGraphicsScene* Ros::scenes_ptz_cam [private]

Definition at line 96 of file Ros.h.

QGraphicsScene* Ros::scenes_rear_cam [private]

Definition at line 95 of file Ros.h.

ros::ServiceClient Ros::setOdom_client [private]

Definition at line 54 of file Ros.h.

ros::Subscriber Ros::spatial [private]

Definition at line 59 of file Ros.h.

float Ros::speed_a [private]

Definition at line 81 of file Ros.h.

float Ros::speed_left [private]

Definition at line 85 of file Ros.h.

float Ros::speed_right [private]

Definition at line 85 of file Ros.h.

int Ros::speed_value [private]

Definition at line 82 of file Ros.h.

float Ros::speed_x [private]

Definition at line 81 of file Ros.h.

ros::Subscriber Ros::ssc32_info_sub [private]

Definition at line 67 of file Ros.h.

ros::Subscriber Ros::takepic_sub [private]

Definition at line 71 of file Ros.h.

int Ros::tilt

Definition at line 232 of file Ros.h.

ros::Timer Ros::timer [private]

Definition at line 57 of file Ros.h.

int Ros::turning_speed_level

Definition at line 242 of file Ros.h.

bool Ros::turningLeft [private]

Definition at line 86 of file Ros.h.

bool Ros::turningRight [private]

Definition at line 86 of file Ros.h.

int Ros::turnleftspeed

Definition at line 236 of file Ros.h.

int Ros::turnrightspeed

Definition at line 237 of file Ros.h.

ros::Subscriber Ros::velocity [private]

Definition at line 59 of file Ros.h.

ros::Publisher Ros::velocityValue_pub [private]

Definition at line 64 of file Ros.h.

---

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

• Ros.h
• Ros.cpp