SegwayRMPNode Class Reference

List of all members.

Public Member Functions
void	cmd_velCallback (const geometry_msgs::Twist::ConstPtr &msg)
void	disconnect ()
void	handleStatus (segwayrmp::SegwayStatus::Ptr &ss_ptr)
void	keepAliveCallback (const ros::TimerEvent &e)
void	motor_timeoutCallback (const ros::TimerEvent &e)
void	run ()
	SegwayRMPNode ()
bool	spin ()
	~SegwayRMPNode ()
Private Member Functions
int	getParameters ()
void	setupROSComms ()
void	setupSegwayRMP ()
Private Attributes
double	angular_neg_accel_limit
double	angular_odom_scale
double	angular_pos_accel_limit
double	angular_vel
bool	broadcast_tf
ros::Subscriber	cmd_velSubscriber
bool	connected
int	count
bool	first_odometry
std::string	frame_id
double	initial_integrated_forward_position
double	initial_integrated_left_wheel_position
double	initial_integrated_right_wheel_position
double	initial_integrated_turn_position
segwayrmp::InterfaceType	interface_type
std::string	interface_type_str
bool	invert_x
bool	invert_z
ros::Timer	keep_alive_timer
float	last_forward_displacement
ros::Time	last_time
float	last_yaw_displacement
double	linear_neg_accel_limit
double	linear_odom_scale
double	linear_pos_accel_limit
double	linear_vel
boost::mutex	m_mutex
double	max_angular_vel
double	max_linear_vel
ros::Timer	motor_timeout_timer
ros::NodeHandle *	n
tf::TransformBroadcaster	odom_broadcaster
nav_msgs::Odometry	odom_msg
ros::Publisher	odom_pub
geometry_msgs::TransformStamped	odom_trans
double	odometry_reset_duration
ros::Time	odometry_reset_start_time
float	odometry_w
float	odometry_x
float	odometry_y
bool	reset_odometry
double	segway_motor_timeout
segwayrmp::SegwayRMP *	segway_rmp
segwayrmp::SegwayRMPType	segway_rmp_type
ros::Publisher	segway_status_pub
std::string	serial_number
std::string	serial_port
segway_rmp::SegwayStatusStamped	sss_msg
double	target_angular_vel
double	target_linear_vel
std::string	usb_description
int	usb_index
std::string	usb_selector

---

Detailed Description

Definition at line 53 of file segway_rmp_node.cpp.

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Constructor & Destructor Documentation

SegwayRMPNode::SegwayRMPNode

(

)

[inline]

Definition at line 55 of file segway_rmp_node.cpp.

SegwayRMPNode::~SegwayRMPNode

(

)

[inline]

Definition at line 75 of file segway_rmp_node.cpp.

---

Member Function Documentation

void SegwayRMPNode::cmd_velCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[inline]

The handler for messages received on the 'cmd_vel' topic.

Definition at line 350 of file segway_rmp_node.cpp.

void SegwayRMPNode::disconnect

(

)

[inline]

Definition at line 79 of file segway_rmp_node.cpp.

int SegwayRMPNode::getParameters

(

)

[inline, private]

Definition at line 429 of file segway_rmp_node.cpp.

void SegwayRMPNode::handleStatus

(

segwayrmp::SegwayStatus::Ptr &

ss_ptr

)

[inline]

Definition at line 197 of file segway_rmp_node.cpp.

void SegwayRMPNode::keepAliveCallback

(

const ros::TimerEvent &

e

)

[inline]

This method is called at 20Hz. Each time it sends a movement command to the Segway RMP.

Definition at line 138 of file segway_rmp_node.cpp.

void SegwayRMPNode::motor_timeoutCallback

(

const ros::TimerEvent &

e

)

[inline]

This method is called if a motor command is not received within the segway_motor_timeout interval. It halts the robot for safety reasons.

Definition at line 340 of file segway_rmp_node.cpp.

void SegwayRMPNode::run

(

)

[inline]

Definition at line 85 of file segway_rmp_node.cpp.

void SegwayRMPNode::setupROSComms

(

)

[inline, private]

Definition at line 386 of file segway_rmp_node.cpp.

void SegwayRMPNode::setupSegwayRMP

(

)

[inline, private]

Definition at line 395 of file segway_rmp_node.cpp.

bool SegwayRMPNode::spin

(

)

[inline]

Definition at line 120 of file segway_rmp_node.cpp.

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Member Data Documentation

double SegwayRMPNode::angular_neg_accel_limit [private]

Definition at line 599 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_odom_scale [private]

Definition at line 602 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_pos_accel_limit [private]

Definition at line 598 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_vel [private]

Definition at line 591 of file segway_rmp_node.cpp.

bool SegwayRMPNode::broadcast_tf [private]

Definition at line 588 of file segway_rmp_node.cpp.

ros::Subscriber SegwayRMPNode::cmd_velSubscriber [private]

Definition at line 567 of file segway_rmp_node.cpp.

bool SegwayRMPNode::connected [private]

Definition at line 607 of file segway_rmp_node.cpp.

int SegwayRMPNode::count [private]

Definition at line 613 of file segway_rmp_node.cpp.

bool SegwayRMPNode::first_odometry [private]

Definition at line 615 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::frame_id [private]

Definition at line 586 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_forward_position [private]

Definition at line 630 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_left_wheel_position [private]

Definition at line 631 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_right_wheel_position [private]

Definition at line 632 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_turn_position [private]

Definition at line 633 of file segway_rmp_node.cpp.

segwayrmp::InterfaceType SegwayRMPNode::interface_type [private]

Definition at line 575 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::interface_type_str [private]

Definition at line 574 of file segway_rmp_node.cpp.

bool SegwayRMPNode::invert_x [private]

Definition at line 587 of file segway_rmp_node.cpp.

bool SegwayRMPNode::invert_z [private]

Definition at line 587 of file segway_rmp_node.cpp.

ros::Timer SegwayRMPNode::keep_alive_timer [private]

Definition at line 565 of file segway_rmp_node.cpp.

float SegwayRMPNode::last_forward_displacement [private]

Definition at line 616 of file segway_rmp_node.cpp.

ros::Time SegwayRMPNode::last_time [private]

Definition at line 621 of file segway_rmp_node.cpp.

float SegwayRMPNode::last_yaw_displacement [private]

Definition at line 617 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_neg_accel_limit [private]

Definition at line 597 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_odom_scale [private]

Definition at line 601 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_pos_accel_limit [private]

Definition at line 596 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_vel [private]

Definition at line 590 of file segway_rmp_node.cpp.

boost::mutex SegwayRMPNode::m_mutex [private]

Definition at line 623 of file segway_rmp_node.cpp.

double SegwayRMPNode::max_angular_vel [private]

Definition at line 605 of file segway_rmp_node.cpp.

double SegwayRMPNode::max_linear_vel [private]

Definition at line 604 of file segway_rmp_node.cpp.

ros::Timer SegwayRMPNode::motor_timeout_timer [private]

Definition at line 584 of file segway_rmp_node.cpp.

ros::NodeHandle* SegwayRMPNode::n [private]

Definition at line 563 of file segway_rmp_node.cpp.

tf::TransformBroadcaster SegwayRMPNode::odom_broadcaster [private]

Definition at line 570 of file segway_rmp_node.cpp.

nav_msgs::Odometry SegwayRMPNode::odom_msg [private]

Definition at line 611 of file segway_rmp_node.cpp.

ros::Publisher SegwayRMPNode::odom_pub [private]

Definition at line 569 of file segway_rmp_node.cpp.

geometry_msgs::TransformStamped SegwayRMPNode::odom_trans [private]

Definition at line 610 of file segway_rmp_node.cpp.

double SegwayRMPNode::odometry_reset_duration [private]

Definition at line 628 of file segway_rmp_node.cpp.

ros::Time SegwayRMPNode::odometry_reset_start_time [private]

Definition at line 629 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_w [private]

Definition at line 620 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_x [private]

Definition at line 618 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_y [private]

Definition at line 619 of file segway_rmp_node.cpp.

bool SegwayRMPNode::reset_odometry [private]

Definition at line 627 of file segway_rmp_node.cpp.

double SegwayRMPNode::segway_motor_timeout [private]

Definition at line 583 of file segway_rmp_node.cpp.

segwayrmp::SegwayRMP* SegwayRMPNode::segway_rmp [private]

Definition at line 572 of file segway_rmp_node.cpp.

segwayrmp::SegwayRMPType SegwayRMPNode::segway_rmp_type [private]

Definition at line 576 of file segway_rmp_node.cpp.

ros::Publisher SegwayRMPNode::segway_status_pub [private]

Definition at line 568 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::serial_number [private]

Definition at line 579 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::serial_port [private]

Definition at line 577 of file segway_rmp_node.cpp.

segway_rmp::SegwayStatusStamped SegwayRMPNode::sss_msg [private]

Definition at line 609 of file segway_rmp_node.cpp.

double SegwayRMPNode::target_angular_vel [private]

Definition at line 594 of file segway_rmp_node.cpp.

double SegwayRMPNode::target_linear_vel [private]

Definition at line 593 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::usb_description [private]

Definition at line 580 of file segway_rmp_node.cpp.

int SegwayRMPNode::usb_index [private]

Definition at line 581 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::usb_selector [private]

Definition at line 578 of file segway_rmp_node.cpp.

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

• segway_rmp_node.cpp