traxbot_node.cpp File Reference

#include <stdlib.h>
#include <stdio.h>
#include <string>
#include <vector>
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <cereal_port/CerealPort.h>

Include dependency graph for traxbot_node.cpp:

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Defines
#define	AXLE_LENGTH   0.180
#define	MAX_ENCODER_COUNT   32768
#define	NORMALIZE(z)   atan2(sin(z), cos(z))
#define	PULSES_TO_M   0.000087512033
Functions
void	cmdVelReceived (const geometry_msgs::Twist::ConstPtr &cmd_vel)
std::string	drive (double linear_speed, double angular_speed, int ID_Robot)
int	main (int argc, char **argv)
void	robotDataCallback (std::string *data)
bool	signof (int n)
Variables
bool	confirm_communication = true
ros::Time	current_time
int	ID_Robot = 0
ros::Time	last_time
double	last_time_pub = 0.0
int	left_encoder_prev = 0
tf::TransformBroadcaster *	odom_broadcaster_ptr
ros::Publisher *	odom_pub_ptr
double	odometry_x_ = 0.0
double	odometry_y_ = 0.0
double	odometry_yaw_ = 0.0
int	right_encoder_prev = 0
cereal::CerealPort	serial_port

---

Define Documentation

#define AXLE_LENGTH   0.180

Definition at line 17 of file traxbot_node.cpp.

#define MAX_ENCODER_COUNT   32768

Definition at line 15 of file traxbot_node.cpp.

#define NORMALIZE

(

z

)

atan2(sin(z), cos(z))

Definition at line 21 of file traxbot_node.cpp.

#define PULSES_TO_M   0.000087512033

Definition at line 18 of file traxbot_node.cpp.

---

Function Documentation

void cmdVelReceived

(

const geometry_msgs::Twist::ConstPtr &

cmd_vel

)

Definition at line 198 of file traxbot_node.cpp.

std::string drive	(	double	linear_speed,
		double	angular_speed,
		int	ID_Robot
	)

Definition at line 176 of file traxbot_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 206 of file traxbot_node.cpp.

void robotDataCallback

(

std::string *

data

)

Definition at line 44 of file traxbot_node.cpp.

bool signof

(

int

n

)

Definition at line 32 of file traxbot_node.cpp.

---

Variable Documentation

bool confirm_communication = true

Definition at line 33 of file traxbot_node.cpp.

ros::Time current_time

Definition at line 29 of file traxbot_node.cpp.

int ID_Robot = 0

Definition at line 34 of file traxbot_node.cpp.

ros::Time last_time

Definition at line 29 of file traxbot_node.cpp.

double last_time_pub = 0.0

Definition at line 30 of file traxbot_node.cpp.

int left_encoder_prev = 0

Definition at line 40 of file traxbot_node.cpp.

tf::TransformBroadcaster* odom_broadcaster_ptr

Definition at line 26 of file traxbot_node.cpp.

ros::Publisher* odom_pub_ptr

Definition at line 25 of file traxbot_node.cpp.

double odometry_x_ = 0.0

Definition at line 36 of file traxbot_node.cpp.

double odometry_y_ = 0.0

Definition at line 37 of file traxbot_node.cpp.

double odometry_yaw_ = 0.0

Definition at line 38 of file traxbot_node.cpp.

int right_encoder_prev = 0

Definition at line 39 of file traxbot_node.cpp.

cereal::CerealPort serial_port

Definition at line 28 of file traxbot_node.cpp.