IRI ROS Specific Driver Class. More...

#include <localization3d_alg_node.h>

Inheritance diagram for Localization3dAlgNode:

Public Member Functions
	Localization3dAlgNode (void)
	Constructor.
	~Localization3dAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	initDevicePositions ()
void	laser0_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	laser1_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	laser2_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	platformData_callback (const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr &msg)
void	platformOdometry_callback (const nav_msgs::Odometry::ConstPtr &msg)
void	printUserConfiguration ()
Private Attributes
CMutex	config_mutex
double	dT
string	gridFileName
Ccompass3axisObservation	inclinometers
double	infoGain
double	initH
double	initX
double	initY
ros::Subscriber	laser0_subscriber_
ros::Subscriber	laser1_subscriber_
ros::Subscriber	laser2_subscriber_
CMutex	laser_mutex [MAX_RANGE_DEVICES]
ClaserObservation	laserObs [MAX_RANGE_DEVICES]
CposCovObservation	locEstimate
string	mapFileName
int	numberOfParticles
CodometryObservation	odometry
tf::Pose	odoPose
ros::Time	odoTime
ros::Publisher	particleSet_publisher_
CbasicPF *	pFilter
CMutex	platformData_mutex_
ros::Subscriber	platformData_subscriber_
CMutex	platformOdometry_mutex_
ros::Subscriber	platformOdometry_subscriber_
geometry_msgs::PoseArray	PoseArray_msg_
geometry_msgs::PoseWithCovarianceStamped	PoseWithCovarianceStamped_msg_
ros::Publisher	position_publisher_
ros::Time	priorTime
rangeDeviceConfig	rDevConfig [MAX_RANGE_DEVICES]
int	resamplingStyle
ros::Publisher	tf_publisher_
tf::TransformBroadcaster	tfBroadcaster
tf::TransformListener	tfListener
tf::tfMessage	tfMessage_msg_
ros::Duration	transform_tolerance_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 73 of file localization3d_alg_node.h.

Constructor & Destructor Documentation

Localization3dAlgNode::Localization3dAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file localization3d_alg_node.cpp.

Localization3dAlgNode::~Localization3dAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 119 of file localization3d_alg_node.cpp.

Member Function Documentation

void Localization3dAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< Localization3dAlgorithm >.

Definition at line 535 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::initDevicePositions ( ) [private]

Definition at line 125 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::laser0_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 402 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::laser1_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 441 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::laser2_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 480 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::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 algorithm 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 algorithm_base::IriBaseAlgorithm< Localization3dAlgorithm >.

Definition at line 174 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< Localization3dAlgorithm >.

Definition at line 527 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::platformData_callback ( const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr & msg ) [private]

Definition at line 329 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::platformOdometry_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 359 of file localization3d_alg_node.cpp.

void Localization3dAlgNode::printUserConfiguration ( ) [private]

Definition at line 149 of file localization3d_alg_node.cpp.