#include <motion_safety.h>

Public Member Functions
void	checkFaults ()
bool	isEstopped ()
	MotionSafety ()
	MotionSafety (ros::NodeHandle *nh)
void	setStop (const std::string reason, bool estop, bool fault)
Protected Member Functions
void	diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	driveCallback (const grizzly_msgs::DriveConstPtr &)
void	estopCallback (const std_msgs::BoolConstPtr &)
void	mcuStatusCallback (const grizzly_msgs::RawStatusConstPtr &)
void	watchdogCallback (const ros::TimerEvent &)
Protected Attributes
shared_ptr< DriveChangeLimiter >	accel_limiters_ [4]
shared_ptr < diagnostic_updater::HeaderlessTopicDiagnostic >	diag_cmd_drive_freq_
shared_ptr < diagnostic_updater::HeaderlessTopicDiagnostic >	diag_mcu_status_freq_
shared_ptr < diagnostic_updater::Updater >	diagnostic_updater_
shared_ptr< EncodersMonitor >	encoders_monitor_
double	expected_mcu_status_frequency_
ros::Time	last_commanded_movement_time_
grizzly_msgs::RawStatusConstPtr	last_mcu_status_
ros::Time	last_non_precharge_time_
double	max_accel_
double	max_cmd_drive_freq_
double	min_cmd_drive_freq_
shared_ptr< MotorsMonitor >	motor_drivers_monitor_
ros::NodeHandle *	nh_
ros::Publisher	pub_ambience_
ros::Publisher	pub_estop_
ros::Publisher	pub_safe_drive_
double	radius_
std::string	reason_
ros::Duration	starting_duration_
MotionState	state_
ros::Subscriber	sub_drive_
ros::Subscriber	sub_mcu_status_
ros::Subscriber	sub_user_estop_
ros::Time	transition_to_moving_time_
ros::Timer	watchdog_timer_
double	width_

Detailed Description

Definition at line 59 of file motion_safety.h.

Constructor & Destructor Documentation

MotionSafety::MotionSafety ( ) [inline]

Definition at line 62 of file motion_safety.h.

MotionSafety::MotionSafety ( ros::NodeHandle * nh )

Definition at line 41 of file motion_safety_node.cpp.

Member Function Documentation

void MotionSafety::checkFaults ( )

Definition at line 108 of file motion_safety_node.cpp.

void MotionSafety::diagnostic ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [protected]

Definition at line 263 of file motion_safety_node.cpp.

void MotionSafety::driveCallback ( const grizzly_msgs::DriveConstPtr & drive_commanded ) [protected]

Manages a pass-through of Grizzly Drive messages, ensuring that the appropriate delays are observed before allowing the chassis to move, including activating the chassis lights and beeper. Also monitors encoders for possible failure.

Definition at line 231 of file motion_safety_node.cpp.

void MotionSafety::estopCallback ( const std_msgs::BoolConstPtr & msg ) [protected]

Definition at line 217 of file motion_safety_node.cpp.

bool MotionSafety::isEstopped ( )

Definition at line 251 of file motion_safety_node.cpp.

void MotionSafety::mcuStatusCallback ( const grizzly_msgs::RawStatusConstPtr & status ) [protected]

Definition at line 257 of file motion_safety_node.cpp.