base_motor_node.h
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00001 #ifndef __BASE_MOTOR_NODE_H__
00002 #define __BASE_MOTOR_NODE_H__
00003 
00034 #include "base_motor_driver.h"
00035 #include <tf/transform_broadcaster.h>
00036 
00037 // messages
00038 #include <nav_msgs/Odometry.h>
00039 #include <geometry_msgs/Twist.h>
00040 
00041 class BaseMotorNode {
00042     public:
00046         BaseMotorNode();
00047 
00051         ~BaseMotorNode();
00052 
00056         void init();
00057 
00061         void spin();
00062 
00064         // publishers and subscribers
00066 
00072         void publish();
00073 
00079         void twist_callback(const geometry_msgs::Twist::ConstPtr& cmd_vel);
00080 
00081     private:
00082         // nodes
00083         ros::NodeHandle _nh;
00084         ros::NodeHandle _nh_private;
00085 
00086         // publishers and subscribers
00087         ros::Publisher odom_pub;
00088         ros::Subscriber sub;
00089 
00090         // spin rate
00091         ros::Rate _publish_rate;
00092 
00093         ros::Time _current_time, _last_time;
00094 
00095         tf::TransformBroadcaster odom_broadcaster;
00096 
00097         BaseMotor _bm;
00098 };
00099 
00100 #endif


base
Author(s): Raul Perula-Martinez
autogenerated on Wed Apr 1 2015 10:17:15