Inheritance diagram for com.github.c77.base_controller.BaseControllerNode:

Public Member Functions
	BaseControllerNode (BaseDevice baseDevice, String vel_topic)
GraphName	getDefaultNodeName ()
void	onNewMessage (Twist twist)
void	onShutdown (Node node)
void	onShutdownComplete (Node node)
void	onStart (ConnectedNode connectedNode)
Package Attributes
Thread	baseControllerThread
Private Member Functions
synchronized void	setTwistValues (double linearVelX, double angVelZ)
Private Attributes
double	angVelZ = 0.0
final BaseDevice	baseDevice
String	CMD_VEL_TOPIC
double	linearVelX = 0.0
Static Private Attributes
static final Log	log = LogFactory.getLog(BaseControllerNode.class)

Detailed Description

Author:: jcerruti@creativa77.com.ar (Julian Cerruti)

Definition at line 36 of file BaseControllerNode.java.

Constructor & Destructor Documentation

com.github.c77.base_controller.BaseControllerNode.BaseControllerNode	(	BaseDevice	baseDevice,
		String	vel_topic
	)		`[inline]`

Creates a new base controller node that listens twists in a given topic. Usually this will be cmd_vel.

Parameters:

vel_topic,:	The topic in which to listen for twists.
baseDevice,:	The base device that wants to be used (Kobuki, Create or Husky for now)

Definition at line 56 of file BaseControllerNode.java.

Member Function Documentation

GraphName com.github.c77.base_controller.BaseControllerNode.getDefaultNodeName ( ) [inline]

Definition at line 46 of file BaseControllerNode.java.

void com.github.c77.base_controller.BaseControllerNode.onNewMessage ( Twist twist ) [inline]

Callback from the subscriber to the CMD_VEL topic. This method is called each time a command velocity message is received

Parameters:

twist The command velocity message received

Definition at line 136 of file BaseControllerNode.java.

void com.github.c77.base_controller.BaseControllerNode.onShutdown ( Node node ) [inline]

Definition at line 112 of file BaseControllerNode.java.

void com.github.c77.base_controller.BaseControllerNode.onShutdownComplete ( Node node ) [inline]

Definition at line 118 of file BaseControllerNode.java.

void com.github.c77.base_controller.BaseControllerNode.onStart ( ConnectedNode connectedNode ) [inline]

Should be called to finish the node initialization. The base driver, already initialize should be provided to this method. This allows to defer the device creation to the moment Android gives the application the required USB permissions.

This thread decouples the receiving of messages via ROS Topics from the sending of messages to the base. Most bases require a continuous stream of messages to be sent. This code makes sure to keep sending messages to the base, repeating the previously received message if necessary, to keep a continuous stream going.

Definition at line 69 of file BaseControllerNode.java.