IRI ROS Specific Driver Class. More...

#include <zyonz_tof_color_driver_node.h>

Inheritance diagram for ZyonzTofColorDriverNode:

Public Member Functions
	ZyonzTofColorDriverNode (ros::NodeHandle &nh)
	constructor
	~ZyonzTofColorDriverNode ()
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeOpenedTests (void)
	open status driver tests
void	addNodeRunningTests (void)
	run status driver tests
void	addNodeStoppedTests (void)
	stop status driver tests
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
void	image_callback (const sensor_msgs::Image::ConstPtr &msg)
void	input_intens_callback (const sensor_msgs::Image::ConstPtr &msg)
void	pointCloud_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	postNodeOpenHook (void)
	post open hook
void	processRgbAndDepth ()
bool	saveImageCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Private Attributes
sensor_msgs::PointCloud2::ConstPtr	cloud2_
	PointCloud2 data.
ros::Publisher	cloud2_raw_publisher_
bool	depth_sent_
std::string	fileName
CMutex	image_mutex_
ros::Subscriber	image_subscriber_
CMutex	input_intens_mutex_
ros::Subscriber	input_intens_subscriber_
sensor_msgs::Image::ConstPtr	intens_image_
bool	intens_sent_
Matrix3f	K_
int	kernel_size_
	RGB_TOF extrinsics.
std::ofstream	outFile
Matrix4f	P_
	RGB intrinsics.
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	pointCloud_mutex_
ros::Subscriber	pointCloud_subscriber_
sensor_msgs::Image::ConstPtr	rgb_image_
	Image data.
bool	rgb_sent_
bool	saveFile
int	saveFileCounter
CMutex	saveImage_mutex_
ros::ServiceServer	saveImage_server_
int	zbuffer_threshold_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any IriBaseDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class IriBaseNodeDriver. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 68 of file zyonz_tof_color_driver_node.h.

Constructor & Destructor Documentation

ZyonzTofColorDriverNode::ZyonzTofColorDriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the ZyonzTofColorDriverNode topics through the given public_node_handle object. IriBaseNodeDriver attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 11 of file zyonz_tof_color_driver_node.cpp.

ZyonzTofColorDriverNode::~ZyonzTofColorDriverNode ( )

Destructor.

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

Definition at line 452 of file zyonz_tof_color_driver_node.cpp.

Member Function Documentation

void ZyonzTofColorDriverNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this function ROS diagnostics applied to this specific node may be added. Common use diagnostics for all nodes are already called from IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information of how ROS diagnostics work can be readen here: http://www.ros.org/wiki/diagnostics/ http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html

Implements iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 432 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::addNodeOpenedTests ( void ) [protected, virtual]

open status driver tests

In this function tests checking driver's functionallity when driver_base status=open can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 436 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::addNodeRunningTests ( void ) [protected, virtual]

run status driver tests

In this function tests checking driver's functionallity when driver_base status=run can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 444 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::addNodeStoppedTests ( void ) [protected, virtual]

stop status driver tests

In this function tests checking driver's functionallity when driver_base status=stop can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 440 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::image_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 119 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::input_intens_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 101 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::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 driver 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 iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 77 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::pointCloud_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 138 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::postNodeOpenHook ( void ) [private, virtual]

post open hook

This function is called by IriBaseNodeDriver::postOpenHook(). In this function specific parameters from the driver must be added so the ROS dynamic reconfigure application can update them.

Implements iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 428 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::processRgbAndDepth ( ) [private]

Definition at line 160 of file zyonz_tof_color_driver_node.cpp.

void ZyonzTofColorDriverNode::reconfigureNodeHook ( int level ) [protected, virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< ZyonzTofColorDriver >.

Definition at line 448 of file zyonz_tof_color_driver_node.cpp.