00001 /* 00002 * Copyright (c) 2013, Yujin Robot. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Yujin Robot nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef _FAKE_KOBUKI_H_ 00031 #define _FAKE_KOBUKI_H_ 00032 00033 #include <ros/ros.h> 00034 #include <nav_msgs/Odometry.h> 00035 #include <geometry_msgs/TransformStamped.h> 00036 #include <sensor_msgs/JointState.h> 00037 #include <kobuki_msgs/VersionInfo.h> 00038 00039 // place holder for future support 00040 //#include <sensor_msgs/Imu.h> 00041 //#include <kobuki_msgs/ButtonEvent.h> 00042 //#include <kobuki_msgs/BumperEvent.h> 00043 //#include <kobuki_msgs/CliffEvent.h> 00044 //#include <kobuki_msgs/DigitalOutput.h> 00045 //#include <kobuki_msgs/DigitalInputEvent.h> 00046 //#include <kobuki_msgs/ExternalPower.h> 00047 //#include <kobuki_msgs/DockInfraRed.h> 00048 //#include <kobuki_msgs/Led.h> 00049 //#include <kobuki_msgs/MotorPower.h> 00050 //#include <kobuki_msgs/PowerSystemEvent.h> 00051 //#include <kobuki_msgs/RobotStateEvent.h> 00052 //#include <kobuki_msgs/SensorState.h> 00053 //#include <kobuki_msgs/Sound.h> 00054 //#include <kobuki_msgs/WheelDropEvent.h> 00055 00056 namespace kobuki 00057 { 00058 enum { 00059 LEFT=0, 00060 RIGHT=1 00061 }; 00062 00063 class FakeKobuki 00064 { 00065 public: 00066 void init(ros::NodeHandle& nh); 00067 00068 // variables 00069 kobuki_msgs::VersionInfo versioninfo; 00070 00071 sensor_msgs::JointState joint_states; 00072 nav_msgs::Odometry odom; 00073 float odom_pose[3]; 00074 float odom_vel[3]; 00075 double pose_cov[36]; 00076 00077 std::string wheel_joint_name[2]; 00078 float wheel_speed_cmd[2]; 00079 float wheel_separation; 00080 float wheel_diameter; 00081 00082 bool motor_enabled; 00083 double cmd_vel_timeout; 00084 00085 // events 00086 // kobuki_msgs::BumperEvent bumper_event; 00087 // kobuki_msgs::DigitalInputEvent digital_input; 00088 // kobuki_msgs::WheelDropEvent wheel_drop; 00089 // kobuki_msgs::PowerSystemEvent power_system; 00090 // kobuki_msgs::CliffEvent cliff; 00091 // kobuki_msgs::ButtonEvent button; 00092 00093 // sensors 00094 // kobuki_msgs::SensorState core; 00095 // kobuki_msgs::DockInfraRed dock_ir; 00096 // sensor_msgs::Imu imu_data; 00097 00098 }; 00099 } 00100 #endif