IRI ROS Specific Algorithm Class. More...

#include <segway_rmp200_twist_odom_alg_node.h>

Inheritance diagram for SegwayRmp200TwistOdomAlgNode:

Public Member Functions
	SegwayRmp200TwistOdomAlgNode (void)
	Constructor.
	~SegwayRmp200TwistOdomAlgNode (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
Protected Attributes
tf::TransformBroadcaster	odom_broadcaster_
Private Member Functions
void	input_twist_callback (const geometry_msgs::Twist::ConstPtr &msg)
Private Attributes
std::string	base_link_id_
CMutex	input_twist_mutex_
ros::Subscriber	input_twist_subscriber_
bool	is_first_msg_
ros::Time	last_time_
std::string	odom_id_
ros::Publisher	odom_publisher_
nav_msgs::Odometry	Odometry_msg_
geometry_msgs::PoseWithCovariance	pose_
bool	publish_tf_
std::string	tf_prefix_
geometry_msgs::Transform	transform_
geometry_msgs::TwistWithCovariance	twist_
double	yaw_angle

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file segway_rmp200_twist_odom_alg_node.h.

Constructor & Destructor Documentation

SegwayRmp200TwistOdomAlgNode::SegwayRmp200TwistOdomAlgNode ( void )

Constructor.

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

Definition at line 3 of file segway_rmp200_twist_odom_alg_node.cpp.

SegwayRmp200TwistOdomAlgNode::~SegwayRmp200TwistOdomAlgNode ( void )

Destructor.

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

Definition at line 37 of file segway_rmp200_twist_odom_alg_node.cpp.

Member Function Documentation

void SegwayRmp200TwistOdomAlgNode::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< SegwayRmp200TwistOdomAlgorithm >.

Definition at line 130 of file segway_rmp200_twist_odom_alg_node.cpp.

void SegwayRmp200TwistOdomAlgNode::input_twist_callback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Definition at line 99 of file segway_rmp200_twist_odom_alg_node.cpp.

void SegwayRmp200TwistOdomAlgNode::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< SegwayRmp200TwistOdomAlgorithm >.

Definition at line 42 of file segway_rmp200_twist_odom_alg_node.cpp.

void SegwayRmp200TwistOdomAlgNode::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< SegwayRmp200TwistOdomAlgorithm >.

Definition at line 123 of file segway_rmp200_twist_odom_alg_node.cpp.