IRI ROS Specific Algorithm Class. More...

#include <posewithcovariancestamped_odom_alg_node.h>

Inheritance diagram for PosewithcovariancestampedOdomAlgNode:

Public Member Functions
	PosewithcovariancestampedOdomAlgNode (void)
	Constructor.
	~PosewithcovariancestampedOdomAlgNode (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	pose_callback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
Private Attributes
std::string	child_id_
ros::Publisher	odom_publisher_
nav_msgs::Odometry	Odometry_msg_
std::string	parent_id_
CMutex	pose_mutex_
ros::Subscriber	pose_subscriber_
bool	publish_tf_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file posewithcovariancestamped_odom_alg_node.h.

Constructor & Destructor Documentation

PosewithcovariancestampedOdomAlgNode::PosewithcovariancestampedOdomAlgNode ( void )

Constructor.

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

Definition at line 3 of file posewithcovariancestamped_odom_alg_node.cpp.

PosewithcovariancestampedOdomAlgNode::~PosewithcovariancestampedOdomAlgNode ( void )

Destructor.

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

Definition at line 28 of file posewithcovariancestamped_odom_alg_node.cpp.

Member Function Documentation

void PosewithcovariancestampedOdomAlgNode::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< PosewithcovariancestampedOdomAlgorithm >.

Definition at line 81 of file posewithcovariancestamped_odom_alg_node.cpp.

void PosewithcovariancestampedOdomAlgNode::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< PosewithcovariancestampedOdomAlgorithm >.

Definition at line 33 of file posewithcovariancestamped_odom_alg_node.cpp.

void PosewithcovariancestampedOdomAlgNode::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< PosewithcovariancestampedOdomAlgorithm >.

Definition at line 74 of file posewithcovariancestamped_odom_alg_node.cpp.

void PosewithcovariancestampedOdomAlgNode::pose_callback ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg ) [private]

Definition at line 47 of file posewithcovariancestamped_odom_alg_node.cpp.