IRI ROS Specific Driver Class. More...

#include <pmdcamera_driver_node.h>

Inheritance diagram for PmdcameraDriverNode:

Public Member Functions
	PmdcameraDriverNode (ros::NodeHandle &nh)
	constructor
	~PmdcameraDriverNode ()
	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
void	assembleAmplitudeImage (float *amplitude)
void	assembleDepthImage (float *distance)
void	assembleFlagsImage (float *flags)
void	assembleIntensityImage (float *intensity)
void	assemblePcl2Amp (const float const coord_3D, const float const amplitude)
void	assemblePcl2Int (const float const coord_3D, const float const intensity)
	fills the pointcloud2 with the 3D image data
void	assemblePcl2RangeImage (const float const coord_3D, const float const range, const float *const amp)
void	findMaxAmplitude (const float *amplitude)
void	findMaxDepth (const float *distance)
void	findMaxIntensity (const float *intensity)
void	postNodeOpenHook (void)
	post open hook
Private Attributes
sensor_msgs::CameraInfo	camera_info_
	Camera info data.
camera_info_manager::CameraInfoManager *	camera_info_manager_
	Camera info manager objects.
std::string	camera_info_url_
std::string	camera_name_
ros::Publisher	cloud_raw_publisher_
int	height_
sensor_msgs::Image	Image_amp_msg_
image_transport::CameraPublisher	image_amp_publisher_
sensor_msgs::Image	Image_depth_msg_
image_transport::CameraPublisher	image_depth_publisher_
sensor_msgs::Image	Image_flags_msg_
image_transport::CameraPublisher	image_flags_publisher_
sensor_msgs::Image	Image_int_msg_
image_transport::CameraPublisher	image_raw_publisher_
	ROS publishers.
image_transport::ImageTransport *	it_
float	max_amplitude_
float	max_depth_
float	max_intensity_
sensor_msgs::PointCloud2	pcl2_amp_msg_
sensor_msgs::PointCloud2	pcl2_int_msg_
sensor_msgs::PointCloud2	pcl2_range_msg_
ros::Publisher	pcl_amp_raw_publisher_
ros::Publisher	pcl_int_raw_publisher_
ros::Publisher	pcl_range_raw_publisher_
sensor_msgs::PointCloud	PointCloud_msg_
int	real_height_
int	real_width_
int	width_

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 74 of file pmdcamera_driver_node.h.

Constructor & Destructor Documentation

PmdcameraDriverNode::PmdcameraDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the PmdcameraDriverNode 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 5 of file pmdcamera_driver_node.cpp.

PmdcameraDriverNode::~PmdcameraDriverNode ( )

Destructor.

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

Definition at line 481 of file pmdcamera_driver_node.cpp.

Member Function Documentation

void PmdcameraDriverNode::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< PmdcameraDriver >.

Definition at line 461 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::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< PmdcameraDriver >.

Definition at line 465 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::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< PmdcameraDriver >.

Definition at line 473 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::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< PmdcameraDriver >.

Definition at line 469 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assembleAmplitudeImage ( float * amplitude ) [private]

Fills the Image with the amplitude data, normalized to 0..255

Todo:: this is putting knowledge in the node, and maybe should be in the low level driver?

Definition at line 254 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assembleDepthImage ( float * distance ) [private]

Fills the depth image with the depth data, normalized to 0..255

Todo:: this is putting knowledge in the node, and maybe should be in the low level driver?

Definition at line 266 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assembleFlagsImage ( float * flags ) [private]

Fills the Image with the flags data

Definition at line 230 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assembleIntensityImage ( float * intensity ) [private]

Fills the Image with the intensity data, normalized to 0..255

Todo:: this is putting knowledge in the node, and maybe should be in the low level driver?

Definition at line 242 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assemblePcl2Amp	(	const float *const	coord_3D,
		const float *const	amplitude
	)		`[private]`

Definition at line 310 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assemblePcl2Int	(	const float *const	coord_3D,
		const float *const	intensity
	)		`[private]`

fills the pointcloud2 with the 3D image data

Parameters:

coord_3D	depth image as returned by driver->get3DImage
intensity	intensity image as returned by driver->getIntensityImage

Definition at line 280 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::assemblePcl2RangeImage	(	const float *const	coord_3D,
		const float *const	range,
		const float *const	amp
	)		`[private]`

Definition at line 334 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::findMaxAmplitude ( const float * amplitude ) [private]

Definition at line 210 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::findMaxDepth ( const float * distance ) [private]

Definition at line 220 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::findMaxIntensity ( const float * intensity ) [private]

finds the maximum intensity value used to normalize the intensity image and point values between 0..255

Definition at line 200 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::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 my 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< PmdcameraDriver >.

Definition at line 355 of file pmdcamera_driver_node.cpp.

void PmdcameraDriverNode::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< PmdcameraDriver >.

Definition at line 457 of file pmdcamera_driver_node.cpp.

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

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< PmdcameraDriver >.

Definition at line 477 of file pmdcamera_driver_node.cpp.