IRI ROS Specific Driver Class. More...

#include <segway_rmp400_driver.h>

Inheritance diagram for SegwayRmp400Driver:

Public Types
typedef iri_segway_rmp400::SegwayRmp400Config	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
iri_segway_rmp_msgs::SegwayRMP400Status	get_status (void)
	return ROS message status from the platform
void	move (const geometry_msgs::Twist::ConstPtr &msg)
bool	openDriver (void)
	open driver
	SegwayRmp400Driver ()
	constructor
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	start driver
	~SegwayRmp400Driver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
CSegwayRMP400 *	segway_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The SegwayRmp400Driver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The SegwayRmp400Config.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 58 of file segway_rmp400_driver.h.

Member Typedef Documentation

typedef iri_segway_rmp400::SegwayRmp400Config SegwayRmp400Driver::Config

define config type

Define a Config type with the SegwayRmp400Config. All driver implementations will then use the same variable type Config.

Definition at line 70 of file segway_rmp400_driver.h.

Constructor & Destructor Documentation

SegwayRmp400Driver::SegwayRmp400Driver ( )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 6 of file segway_rmp400_driver.cpp.

SegwayRmp400Driver::~SegwayRmp400Driver ( )

Destructor.

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

Definition at line 109 of file segway_rmp400_driver.cpp.

Member Function Documentation

bool SegwayRmp400Driver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 42 of file segway_rmp400_driver.cpp.

void SegwayRmp400Driver::config_update	(	const Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 70 of file segway_rmp400_driver.cpp.

iri_segway_rmp_msgs::SegwayRMP400Status SegwayRmp400Driver::get_status ( void )

return ROS message status from the platform

This function transforms what is get by the low level driver to the ROS message format. Includes all kind of low level info.

Definition at line 83 of file segway_rmp400_driver.cpp.

void SegwayRmp400Driver::move ( const geometry_msgs::Twist::ConstPtr & msg )

Definition at line 95 of file segway_rmp400_driver.cpp.

bool SegwayRmp400Driver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 20 of file segway_rmp400_driver.cpp.

bool SegwayRmp400Driver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 58 of file segway_rmp400_driver.cpp.

bool SegwayRmp400Driver::stopDriver ( void ) [virtual]

start driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.