IRI ROS Specific Algorithm Class. More...

#include <ry_oa_bridge_alg_node.h>

Inheritance diagram for RyOaBridgeAlgNode:

Public Member Functions
	RyOaBridgeAlgNode (void)
	Constructor.
	~RyOaBridgeAlgNode (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	front_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	localization_callback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
void	odometry_callback (const nav_msgs::Odometry::ConstPtr &msg)
void	vertical_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
ros::Publisher	command_publisher_
CMutex	front_laser_mutex_
ros::Subscriber	front_laser_subscriber_
double	lastOdoTs
CMutex	localization_mutex_
ros::Subscriber	localization_subscriber_
iri_ry_oa_bridge::oaStatus	oaStatus_msg_
CMutex	odometry_mutex_
ros::Subscriber	odometry_subscriber_
ros::Publisher	status_publisher_
geometry_msgs::Twist	Twist_msg_
CMutex	vertical_laser_mutex_
ros::Subscriber	vertical_laser_subscriber_
BufferedPort< Bottle >	yarpFrontLaserOut
BufferedPort< Bottle >	yarpLocalizationOut
CoaStatusPort	yarpOaStatusIn
BufferedPort< Bottle >	yarpOdometryOut
CvelocityCommandPort	yarpVelocitiesIn
BufferedPort< Bottle >	yarpVerticalLaserOut

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 111 of file ry_oa_bridge_alg_node.h.

Constructor & Destructor Documentation

RyOaBridgeAlgNode::RyOaBridgeAlgNode ( void )

Constructor.

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

Definition at line 3 of file ry_oa_bridge_alg_node.cpp.

RyOaBridgeAlgNode::~RyOaBridgeAlgNode ( void )

Destructor.

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

Definition at line 42 of file ry_oa_bridge_alg_node.cpp.

Member Function Documentation

void RyOaBridgeAlgNode::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< RyOaBridgeAlgorithm >.

Definition at line 222 of file ry_oa_bridge_alg_node.cpp.

void RyOaBridgeAlgNode::front_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 172 of file ry_oa_bridge_alg_node.cpp.

void RyOaBridgeAlgNode::localization_callback ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg ) [private]

Definition at line 71 of file ry_oa_bridge_alg_node.cpp.

void RyOaBridgeAlgNode::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< RyOaBridgeAlgorithm >.

Definition at line 47 of file ry_oa_bridge_alg_node.cpp.

void RyOaBridgeAlgNode::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< RyOaBridgeAlgorithm >.

Definition at line 215 of file ry_oa_bridge_alg_node.cpp.

void RyOaBridgeAlgNode::odometry_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 100 of file ry_oa_bridge_alg_node.cpp.

void RyOaBridgeAlgNode::vertical_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 136 of file ry_oa_bridge_alg_node.cpp.