Roboteq_Driver.cpp File Reference

#include <string>
#include <string.h>
#include "RoboteqDevice.h"
#include "ErrorCodes.h"
#include "Constants.h"
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "komodo_rover/StampedEncoders.h"
#include "nav_msgs/Odometry.h"
#include "tf/tf.h"
#include <tf/transform_broadcaster.h>
#include <cmath>
#include <iostream>
#include <stdio.h>
#include <std_srvs/Empty.h>
#include "sensor_msgs/Imu.h"
#include "tf/transform_datatypes.h"
#include "std_msgs/Float32.h"

Include dependency graph for Roboteq_Driver.cpp:

Go to the source code of this file.

Defines
#define	MAX_ERRORS   5
Functions
void	cmd_velCallback (const geometry_msgs::Twist::ConstPtr &msg)
void	controlLoop ()
void	imu_Callback (const sensor_msgs::Imu::ConstPtr &msg)
int	main (int argc, char **argv)
void	queryBat ()
void	queryEncoders ()
void	updtae_state ()
double	wrapToPi (double angle)
bool	zero_enc_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
Variables
ros::Time	bat_loop_time
RoboteqDevice	device
int	enc_error_count = 0
int	enc_loop_count = 0
int	enc_loop_div
ros::Time	enc_loop_time
int	encoder_cpr
int	encoder_ppr
ros::Publisher	encoder_pub
double	encoders_loop_rate
bool	first_enc_read = true
int	l_encoder = 0
int	l_encoder_init = 0
double	Left_Motor_command = 0
int	mot_error_count = 0
ros::Time	mot_loop_time
double	motors_loop_rate
tf::TransformBroadcaster *	odom_broadcaster
std::string	odom_frame_id
ros::Publisher	odom_pub
double	pos_cov = 0.0
int	prev_l_encoder = 0
int	prev_r_encoder = 0
ros::Time	prev_time
geometry_msgs::Quaternion	q_imu = tf::createQuaternionMsgFromYaw(0)
int	r_encoder = 0
int	r_encoder_init = 0
double	Right_Motor_command = 0
double	rot_cov = 0.0
ros::Publisher	rover_bat_pub
bool	rp_from_imu = true
int	rpm_limit
int	status = -1
double	target_direction = 0.0
double	target_speed = 0.0
double	tf_loop_rate
ros::Time	tf_loop_time
double	tt = 0
double	wheel_base_length = 0.0
double	wheel_circumference = 0.0
double	wheel_diameter = 0.0
double	xx = 0
bool	y_from_imu = true
double	yy = 0

---

Define Documentation

#define MAX_ERRORS   5

Definition at line 26 of file Roboteq_Driver.cpp.

---

Function Documentation

void cmd_velCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 83 of file Roboteq_Driver.cpp.

void controlLoop

(

)

Definition at line 110 of file Roboteq_Driver.cpp.

void imu_Callback

(

const sensor_msgs::Imu::ConstPtr &

msg

)

Definition at line 308 of file Roboteq_Driver.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 318 of file Roboteq_Driver.cpp.

void queryBat

(

)

Definition at line 132 of file Roboteq_Driver.cpp.

void queryEncoders

(

)

Definition at line 152 of file Roboteq_Driver.cpp.

void updtae_state

(

)

Definition at line 189 of file Roboteq_Driver.cpp.

double wrapToPi

(

double

angle

)

Definition at line 72 of file Roboteq_Driver.cpp.

bool zero_enc_callback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

Definition at line 300 of file Roboteq_Driver.cpp.

---

Variable Documentation

ros::Time bat_loop_time

Definition at line 68 of file Roboteq_Driver.cpp.

RoboteqDevice device

Definition at line 24 of file Roboteq_Driver.cpp.

int enc_error_count = 0

Definition at line 56 of file Roboteq_Driver.cpp.

int enc_loop_count = 0

Definition at line 30 of file Roboteq_Driver.cpp.

int enc_loop_div

Definition at line 30 of file Roboteq_Driver.cpp.

ros::Time enc_loop_time

Definition at line 68 of file Roboteq_Driver.cpp.

int encoder_cpr

Definition at line 31 of file Roboteq_Driver.cpp.

int encoder_ppr

Definition at line 31 of file Roboteq_Driver.cpp.

ros::Publisher encoder_pub

Definition at line 39 of file Roboteq_Driver.cpp.

double encoders_loop_rate

Definition at line 53 of file Roboteq_Driver.cpp.

bool first_enc_read = true

Definition at line 35 of file Roboteq_Driver.cpp.

int l_encoder = 0

Definition at line 46 of file Roboteq_Driver.cpp.

int l_encoder_init = 0

Definition at line 34 of file Roboteq_Driver.cpp.

double Left_Motor_command = 0

Definition at line 36 of file Roboteq_Driver.cpp.

int mot_error_count = 0

Definition at line 57 of file Roboteq_Driver.cpp.

ros::Time mot_loop_time

Definition at line 68 of file Roboteq_Driver.cpp.

double motors_loop_rate

Definition at line 52 of file Roboteq_Driver.cpp.

tf::TransformBroadcaster* odom_broadcaster

Definition at line 40 of file Roboteq_Driver.cpp.

std::string odom_frame_id

Definition at line 55 of file Roboteq_Driver.cpp.

ros::Publisher odom_pub

Definition at line 38 of file Roboteq_Driver.cpp.

double pos_cov = 0.0

Definition at line 62 of file Roboteq_Driver.cpp.

int prev_l_encoder = 0

Definition at line 33 of file Roboteq_Driver.cpp.

int prev_r_encoder = 0

Definition at line 33 of file Roboteq_Driver.cpp.

ros::Time prev_time

Definition at line 68 of file Roboteq_Driver.cpp.

geometry_msgs::Quaternion q_imu = tf::createQuaternionMsgFromYaw(0)

Definition at line 44 of file Roboteq_Driver.cpp.

int r_encoder = 0

Definition at line 47 of file Roboteq_Driver.cpp.

int r_encoder_init = 0

Definition at line 34 of file Roboteq_Driver.cpp.

double Right_Motor_command = 0

Definition at line 37 of file Roboteq_Driver.cpp.

double rot_cov = 0.0

Definition at line 61 of file Roboteq_Driver.cpp.

ros::Publisher rover_bat_pub

Definition at line 22 of file Roboteq_Driver.cpp.

bool rp_from_imu = true

Definition at line 28 of file Roboteq_Driver.cpp.

int rpm_limit

Definition at line 64 of file Roboteq_Driver.cpp.

int status = -1

Definition at line 32 of file Roboteq_Driver.cpp.

double target_direction = 0.0

Definition at line 59 of file Roboteq_Driver.cpp.

double target_speed = 0.0

Definition at line 58 of file Roboteq_Driver.cpp.

double tf_loop_rate

Definition at line 54 of file Roboteq_Driver.cpp.

ros::Time tf_loop_time

Definition at line 68 of file Roboteq_Driver.cpp.

double tt = 0

Definition at line 67 of file Roboteq_Driver.cpp.

double wheel_base_length = 0.0

Definition at line 50 of file Roboteq_Driver.cpp.

double wheel_circumference = 0.0

Definition at line 49 of file Roboteq_Driver.cpp.

double wheel_diameter = 0.0

Definition at line 51 of file Roboteq_Driver.cpp.

double xx = 0

Definition at line 67 of file Roboteq_Driver.cpp.

bool y_from_imu = true

Definition at line 29 of file Roboteq_Driver.cpp.

double yy = 0

Definition at line 67 of file Roboteq_Driver.cpp.