Public Member Functions | |
| EddiebotFollower () | |
| The constructor for the follower. Constructor for the follower. | |
| ~EddiebotFollower () | |
Private Member Functions | |
| void | cloudcb (const PointCloud::ConstPtr &cloud) |
| Callback for point clouds. Callback for point clouds. Uses PCL to find the centroid of the points in a box in the center of the point cloud. Publishes cmd_vel messages with the goal from the cloud. | |
| virtual void | onInit () |
| OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics. | |
| void | reconfigure (eddiebot_follower::FollowerConfig &config, uint32_t level) |
Private Attributes | |
| ros::Publisher | cmdpub_ |
| double | goal_z_ |
| double | max_x_ |
| double | max_y_ |
| double | max_z_ |
| double | min_x_ |
| double | min_y_ |
| dynamic_reconfigure::Server < eddiebot_follower::FollowerConfig > * | srv_ |
| ros::Subscriber | sub_ |
| double | x_scale_ |
| double | z_scale_ |
The eddiebot follower nodelet. Subscribes to point clouds from the kinect, processes them, and publishes command vel messages.
Definition at line 50 of file follower.cpp.
The constructor for the follower. Constructor for the follower.
Definition at line 57 of file follower.cpp.
Definition at line 65 of file follower.cpp.
| void eddiebot_follower::EddiebotFollower::cloudcb | ( | const PointCloud::ConstPtr & | cloud | ) | [inline, private] |
Callback for point clouds. Callback for point clouds. Uses PCL to find the centroid of the points in a box in the center of the point cloud. Publishes cmd_vel messages with the goal from the cloud.
| cloud | The point cloud message. |
Definition at line 130 of file follower.cpp.
| virtual void eddiebot_follower::EddiebotFollower::onInit | ( | ) | [inline, private, virtual] |
OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.
Definition at line 89 of file follower.cpp.
| void eddiebot_follower::EddiebotFollower::reconfigure | ( | eddiebot_follower::FollowerConfig & | config, |
| uint32_t | level | ||
| ) | [inline, private] |
Definition at line 111 of file follower.cpp.
ros::Publisher eddiebot_follower::EddiebotFollower::cmdpub_ [private] |
Definition at line 181 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::goal_z_ [private] |
The distance away from the robot to hold the centroid
Definition at line 76 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::max_x_ [private] |
The maximum x position of the points in the box.
Definition at line 74 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::max_y_ [private] |
The maximum y position of the points in the box.
Definition at line 72 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::max_z_ [private] |
The maximum z position of the points in the box.
Definition at line 75 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::min_x_ [private] |
The minimum x position of the points in the box.
Definition at line 73 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::min_y_ [private] |
The minimum y position of the points in the box.
Definition at line 71 of file follower.cpp.
dynamic_reconfigure::Server<eddiebot_follower::FollowerConfig>* eddiebot_follower::EddiebotFollower::srv_ [private] |
Definition at line 82 of file follower.cpp.
ros::Subscriber eddiebot_follower::EddiebotFollower::sub_ [private] |
Definition at line 180 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::x_scale_ [private] |
The scaling factor for rotational robot speed
Definition at line 78 of file follower.cpp.
double eddiebot_follower::EddiebotFollower::z_scale_ [private] |
The scaling factor for translational robot speed
Definition at line 77 of file follower.cpp.