IRI ROS Specific Driver Class. More...

#include <leuze_laser_driver_node.h>

Inheritance diagram for LeuzeLaserDriverNode:

Public Member Functions
	LeuzeLaserDriverNode (ros::NodeHandle &nh)
	constructor
	~LeuzeLaserDriverNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeOpenedTests (void)
	open status driver tests
void	addNodeRunningTests (void)
	run status driver tests
void	addNodeStoppedTests (void)
	stop status driver tests
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
bool	change_wp_pairCallback (iri_common_drivers_msgs::change_wp_pair::Request &req, iri_common_drivers_msgs::change_wp_pair::Response &res)
void	postNodeOpenHook (void)
	post open hook
Private Attributes
CMutex	change_wp_pair_mutex_
ros::ServiceServer	change_wp_pair_server_
CEventServer *	event_server_
std::list< std::string >	events_
sensor_msgs::LaserScan	LaserScan_msg_
iri_common_drivers_msgs::leuze_status	leuze_status_msg_
ros::Publisher	scan_publisher_
ros::Publisher	status_publisher_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any IriBaseDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class IriBaseNodeDriver. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 57 of file leuze_laser_driver_node.h.

Constructor & Destructor Documentation

LeuzeLaserDriverNode::LeuzeLaserDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the LeuzeLaserDriverNode topics through the given public_node_handle object. IriBaseNodeDriver attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 3 of file leuze_laser_driver_node.cpp.

LeuzeLaserDriverNode::~LeuzeLaserDriverNode ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 132 of file leuze_laser_driver_node.cpp.

Member Function Documentation

void LeuzeLaserDriverNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this function ROS diagnostics applied to this specific node may be added. Common use diagnostics for all nodes are already called from IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information of how ROS diagnostics work can be readen here: http://www.ros.org/wiki/diagnostics/ http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 112 of file leuze_laser_driver_node.cpp.

void LeuzeLaserDriverNode::addNodeOpenedTests ( void ) [protected, virtual]

open status driver tests

In this function tests checking driver's functionallity when driver_base status=open can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 116 of file leuze_laser_driver_node.cpp.

void LeuzeLaserDriverNode::addNodeRunningTests ( void ) [protected, virtual]

run status driver tests

In this function tests checking driver's functionallity when driver_base status=run can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 124 of file leuze_laser_driver_node.cpp.

void LeuzeLaserDriverNode::addNodeStoppedTests ( void ) [protected, virtual]

stop status driver tests

In this function tests checking driver's functionallity when driver_base status=stop can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 120 of file leuze_laser_driver_node.cpp.

bool LeuzeLaserDriverNode::change_wp_pairCallback	(	iri_common_drivers_msgs::change_wp_pair::Request &	req,
		iri_common_drivers_msgs::change_wp_pair::Response &	res
	)		`[private]`

Definition at line 73 of file leuze_laser_driver_node.cpp.

void LeuzeLaserDriverNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the driver is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 28 of file leuze_laser_driver_node.cpp.

void LeuzeLaserDriverNode::postNodeOpenHook ( void ) [private, virtual]

post open hook

This function is called by IriBaseNodeDriver::postOpenHook(). In this function specific parameters from the driver must be added so the ROS dynamic reconfigure application can update them.

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 108 of file leuze_laser_driver_node.cpp.

void LeuzeLaserDriverNode::reconfigureNodeHook ( int level ) [protected, virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< LeuzeLaserDriver >.

Definition at line 128 of file leuze_laser_driver_node.cpp.