OmnixNode Class Reference

#include <omnix.h>

List of all members.

Public Member Functions
void	closeOmnixSocket ()
void	cmdvelCallback (const geometry_msgs::Twist::ConstPtr &cmd_vel)
bool	DisableJoystickCallback (omnix::DisableJoystick::Request &req, omnix::DisableJoystick::Response &res)
bool	EnableJoystickCallback (omnix::EnableJoystick::Request &req, omnix::EnableJoystickResponse &res)
bool	EngageBrakeCallback (omnix::EngageBrake::Request &req, omnix::EngageBrake::Response &res)
void	initCommands ()
void	joyCallback (const sensor_msgs::Joy::ConstPtr &joy)
	OmnixNode ()
void	openOmnixSocket ()
void	openOmnixSocketRec ()
bool	peekForNewline ()
void	readTimerCallback (const ros::TimerEvent &e)
bool	recvResponse (bool blocking=true)
bool	ReleaseBrakeCallback (omnix::ReleaseBrake::Request &req, omnix::ReleaseBrake::Response &res)
bool	sendCommand (const std::string &cmd)
void	sendGetJointPosition ()
void	timerCallback (const ros::TimerEvent &e)
	~OmnixNode ()
Public Attributes
ros::Subscriber	cmd_vel_sub_
ros::Duration	estop_timeout_
ros::Timer	estop_timer_
ros::Subscriber	joy_sub_
ros::NodeHandle	n_
ros::Publisher	odom_pub_
ros::Timer	read_timer_
tf::TransformBroadcaster	tf_
ros::Publisher	wheel_pos_pub_
Private Attributes
bool	brake_engaged
int	counter
ros::ServiceServer	disable_joystick_service_
std::string	DisableJoystickCommand
std::string	DisableRobotControlCommand
ros::ServiceServer	disengage_brake_service_
bool	emergency_stop
std::string	EnableJoystickCommand
std::string	EnableRobotControlCommand
ros::ServiceServer	engage_brake_service_
std::string	EngageBrakeCommand
bool	first_write
ros::ServiceServer	get_joint_position_service_
std::string	GetJointPositionCommand
struct hostent *	host
struct hostent *	host_rec
std::string	hostname
bool	joystick_controlled
ros::Time	last_estop_recd
geometry_msgs::Twist *	last_vel_cmd
ros::Time	last_vel_cmd_recd
ros::Time	last_vel_cmd_sent
double	odom_x
double	odom_y
double	odom_yaw
bool	open_rec_socket
int	portno
int	portno_rec
double	prev_j1
double	prev_j2
double	prev_j3
double	prev_j4
ros::Time	prev_time
char	rec_buf [1024]
int	rec_buf_size
bool	recv_odom
std::string	ReleaseBrakeCommand
struct sockaddr_in	server_addr
int	server_addr_len
struct sockaddr_in	server_addr_rec
int	server_addr_rec_len
struct sockaddr_in	server_addr_rec_other
int	server_addr_rec_other_len
std::string	SetBlinkPatternCommand
std::string	SetJointVelocitiesCommand
std::string	SetVelocityCommand
int	sock
int	sock_rec
bool	verbose
double	vt
double	vx
double	vy

---

Detailed Description

Definition at line 23 of file omnix.h.

---

Constructor & Destructor Documentation

OmnixNode::OmnixNode

(

)

Definition at line 4 of file omnix.cpp.

OmnixNode::~OmnixNode

(

)

Definition at line 61 of file omnix.cpp.

---

Member Function Documentation

void OmnixNode::closeOmnixSocket

(

)

Definition at line 121 of file omnix.cpp.

void OmnixNode::cmdvelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_vel

)

Definition at line 456 of file omnix.cpp.

bool OmnixNode::DisableJoystickCallback	(	omnix::DisableJoystick::Request &	req,
		omnix::DisableJoystick::Response &	res
	)

Definition at line 526 of file omnix.cpp.

bool OmnixNode::EnableJoystickCallback	(	omnix::EnableJoystick::Request &	req,
		omnix::EnableJoystickResponse &	res
	)

Definition at line 540 of file omnix.cpp.

bool OmnixNode::EngageBrakeCallback	(	omnix::EngageBrake::Request &	req,
		omnix::EngageBrake::Response &	res
	)

Definition at line 501 of file omnix.cpp.

void OmnixNode::initCommands

(

)

[inline]

Definition at line 110 of file omnix.h.

void OmnixNode::joyCallback

(

const sensor_msgs::Joy::ConstPtr &

joy

)

Definition at line 127 of file omnix.cpp.

void OmnixNode::openOmnixSocket

(

)

Definition at line 66 of file omnix.cpp.

void OmnixNode::openOmnixSocketRec

(

)

Definition at line 90 of file omnix.cpp.

bool OmnixNode::peekForNewline

(

)

Definition at line 213 of file omnix.cpp.

void OmnixNode::readTimerCallback

(

const ros::TimerEvent &

e

)

Definition at line 135 of file omnix.cpp.

bool OmnixNode::recvResponse

(

bool

blocking = true

)

Definition at line 234 of file omnix.cpp.

bool OmnixNode::ReleaseBrakeCallback	(	omnix::ReleaseBrake::Request &	req,
		omnix::ReleaseBrake::Response &	res
	)

Definition at line 510 of file omnix.cpp.

bool OmnixNode::sendCommand

(

const std::string &

cmd

)

Definition at line 197 of file omnix.cpp.

void OmnixNode::sendGetJointPosition

(

)

Definition at line 382 of file omnix.cpp.

void OmnixNode::timerCallback

(

const ros::TimerEvent &

e

)

Definition at line 140 of file omnix.cpp.

---

Member Data Documentation

bool OmnixNode::brake_engaged [private]

Definition at line 55 of file omnix.h.

ros::Subscriber OmnixNode::cmd_vel_sub_

Definition at line 84 of file omnix.h.

int OmnixNode::counter [private]

Definition at line 51 of file omnix.h.

ros::ServiceServer OmnixNode::disable_joystick_service_ [private]

Definition at line 34 of file omnix.h.

std::string OmnixNode::DisableJoystickCommand [private]

Definition at line 70 of file omnix.h.

std::string OmnixNode::DisableRobotControlCommand [private]

Definition at line 73 of file omnix.h.

ros::ServiceServer OmnixNode::disengage_brake_service_ [private]

Definition at line 32 of file omnix.h.

bool OmnixNode::emergency_stop [private]

Definition at line 53 of file omnix.h.

std::string OmnixNode::EnableJoystickCommand [private]

Definition at line 71 of file omnix.h.

std::string OmnixNode::EnableRobotControlCommand [private]

Definition at line 72 of file omnix.h.

ros::ServiceServer OmnixNode::engage_brake_service_ [private]

Definition at line 31 of file omnix.h.

std::string OmnixNode::EngageBrakeCommand [private]

Definition at line 77 of file omnix.h.

ros::Duration OmnixNode::estop_timeout_

Definition at line 88 of file omnix.h.

ros::Timer OmnixNode::estop_timer_

Definition at line 86 of file omnix.h.

bool OmnixNode::first_write [private]

Definition at line 54 of file omnix.h.

ros::ServiceServer OmnixNode::get_joint_position_service_ [private]

Definition at line 33 of file omnix.h.

std::string OmnixNode::GetJointPositionCommand [private]

Definition at line 76 of file omnix.h.

struct hostent* OmnixNode::host [private]

Definition at line 39 of file omnix.h.

struct hostent* OmnixNode::host_rec [private]

Definition at line 45 of file omnix.h.

std::string OmnixNode::hostname [private]

Definition at line 36 of file omnix.h.

ros::Subscriber OmnixNode::joy_sub_

Definition at line 85 of file omnix.h.

bool OmnixNode::joystick_controlled [private]

Definition at line 56 of file omnix.h.

ros::Time OmnixNode::last_estop_recd [private]

Definition at line 27 of file omnix.h.

geometry_msgs::Twist* OmnixNode::last_vel_cmd [private]

Definition at line 29 of file omnix.h.

ros::Time OmnixNode::last_vel_cmd_recd [private]

Definition at line 25 of file omnix.h.

ros::Time OmnixNode::last_vel_cmd_sent [private]

Definition at line 26 of file omnix.h.

ros::NodeHandle OmnixNode::n_

Definition at line 82 of file omnix.h.

ros::Publisher OmnixNode::odom_pub_

Definition at line 89 of file omnix.h.

double OmnixNode::odom_x [private]

Definition at line 64 of file omnix.h.

double OmnixNode::odom_y [private]

Definition at line 64 of file omnix.h.

double OmnixNode::odom_yaw [private]

Definition at line 64 of file omnix.h.

bool OmnixNode::open_rec_socket [private]

Definition at line 59 of file omnix.h.

int OmnixNode::portno [private]

Definition at line 37 of file omnix.h.

int OmnixNode::portno_rec [private]

Definition at line 43 of file omnix.h.

double OmnixNode::prev_j1 [private]

Definition at line 65 of file omnix.h.

double OmnixNode::prev_j2 [private]

Definition at line 65 of file omnix.h.

double OmnixNode::prev_j3 [private]

Definition at line 65 of file omnix.h.

double OmnixNode::prev_j4 [private]

Definition at line 65 of file omnix.h.

ros::Time OmnixNode::prev_time [private]

Definition at line 67 of file omnix.h.

ros::Timer OmnixNode::read_timer_

Definition at line 87 of file omnix.h.

char OmnixNode::rec_buf[1024] [private]

Definition at line 60 of file omnix.h.

int OmnixNode::rec_buf_size [private]

Definition at line 61 of file omnix.h.

bool OmnixNode::recv_odom [private]

Definition at line 57 of file omnix.h.

std::string OmnixNode::ReleaseBrakeCommand [private]

Definition at line 78 of file omnix.h.

struct sockaddr_in OmnixNode::server_addr [private]

Definition at line 40 of file omnix.h.

int OmnixNode::server_addr_len [private]

Definition at line 41 of file omnix.h.

struct sockaddr_in OmnixNode::server_addr_rec [private]

Definition at line 46 of file omnix.h.

int OmnixNode::server_addr_rec_len [private]

Definition at line 47 of file omnix.h.

struct sockaddr_in OmnixNode::server_addr_rec_other [private]

Definition at line 48 of file omnix.h.

int OmnixNode::server_addr_rec_other_len [private]

Definition at line 49 of file omnix.h.

std::string OmnixNode::SetBlinkPatternCommand [private]

Definition at line 79 of file omnix.h.

std::string OmnixNode::SetJointVelocitiesCommand [private]

Definition at line 75 of file omnix.h.

std::string OmnixNode::SetVelocityCommand [private]

Definition at line 74 of file omnix.h.

int OmnixNode::sock [private]

Definition at line 38 of file omnix.h.

int OmnixNode::sock_rec [private]

Definition at line 44 of file omnix.h.

tf::TransformBroadcaster OmnixNode::tf_

Definition at line 83 of file omnix.h.

bool OmnixNode::verbose [private]

Definition at line 58 of file omnix.h.

double OmnixNode::vt [private]

Definition at line 66 of file omnix.h.

double OmnixNode::vx [private]

Definition at line 66 of file omnix.h.

double OmnixNode::vy [private]

Definition at line 66 of file omnix.h.

ros::Publisher OmnixNode::wheel_pos_pub_

Definition at line 90 of file omnix.h.

---

The documentation for this class was generated from the following files:

• omnix.h
• omnix.cpp