wheeled_node.WheeledRobin_Node Class Reference

List of all members.

Public Member Functions
def	__init__
def	cmd_vel
def	compute_odom
def	publish_odometry_transform
def	reconfigure
def	sense
def	set_digital_outputs
def	set_operation_mode
def	spin
def	start
Public Attributes
	base_footprint_frame
	base_link_frame
	cmd_vel_sub
	cmd_vel_timeout
	default_port
	default_update_rate
	digital_output_srv
	drive_cmd
	drive_mode
	has_gyro
	joint_states_pub
	max_abs_yaw_vel
	min_abs_yaw_vel
	odom_angular_scale_correction
	odom_frame
	odom_linear_scale_correction
	odom_pub
	operate_mode
	operating_mode_srv
	port
	publish_tf
	req_cmd_vel
	robot
	sensor_handler
	sensor_state
	sensor_state_pub
	stop_motors_on_bump
	transform_broadcaster
	update_rate
Private Member Functions
def	_init_params
def	_init_pubsub
def	_robot_run_full
def	_robot_run_passive
def	_robot_run_safe
def	_set_digital_outputs
Private Attributes
	_diagnostics
	_gyro
	_pos2d
Static Private Attributes
int	_SENSOR_READ_RETRY_COUNT = 5

---

Detailed Description

Definition at line 64 of file wheeled_node.py.

---

Constructor & Destructor Documentation

def wheeled_node.WheeledRobin_Node.__init__	(		self,
			default_port = '/dev/ttyUSB0',
			default_update_rate = 100.0
	)

@param default_port: default tty port to use for establishing
connection to WheeledRobin. This will be overriden by ~port ROS
param if available.

Definition at line 67 of file wheeled_node.py.

---

Member Function Documentation

def wheeled_node.WheeledRobin_Node._init_params

(

self

)

[private]

Definition at line 97 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node._init_pubsub

(

self

)

[private]

Definition at line 119 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node._robot_run_full

(

self

)

[private]

Set WheeldRobin into full run mode

Definition at line 297 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node._robot_run_passive

(

self

)

[private]

Set WheeldRobin into passive run mode

Definition at line 277 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node._robot_run_safe

(

self

)

[private]

Set WheeldRobin into safe run mode

Definition at line 286 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node._set_digital_outputs	(		self,
			outputs
	)		[private]

Definition at line 308 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.cmd_vel	(		self,
			msg
	)

Definition at line 350 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.compute_odom	(		self,
			sensor_state,
			last_time,
			odom
	)

Compute current odometry.  Updates odom instance and returns tf
transform. compute_odom() does not set frame ids or covariances in
Odometry instance.  It will only set stamp, pose, and twist.

@param sensor_state: Current sensor reading
@type  sensor_state: WheeledRobinSensorState
@param last_time: time of last sensor reading
@type  last_time: rospy.Time
@param odom: Odometry instance to update.
@type  odom: nav_msgs.msg.Odometry

@return: transformFootprintBase
@rtype: (float, float, float, float)

Definition at line 374 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.publish_odometry_transform	(		self,
			odometry
	)

Definition at line 430 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.reconfigure	(		self,
			config,
			level
	)

Definition at line 140 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.sense	(		self,
			sensor_state
	)

Definition at line 343 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.set_digital_outputs	(		self,
			req
	)

Definition at line 316 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.set_operation_mode	(		self,
			req
	)

Definition at line 325 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.spin

(

self

)

Definition at line 185 of file wheeled_node.py.

def wheeled_node.WheeledRobin_Node.start

(

self

)

Definition at line 154 of file wheeled_node.py.

---

Member Data Documentation

wheeled_node.WheeledRobin_Node::_diagnostics [private]

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::_gyro [private]

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::_pos2d [private]

Definition at line 71 of file wheeled_node.py.

int wheeled_node.WheeledRobin_Node::_SENSOR_READ_RETRY_COUNT = 5 [static, private]

Definition at line 65 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::base_footprint_frame

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::base_link_frame

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::cmd_vel_sub

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::cmd_vel_timeout

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::default_port

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::default_update_rate

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::digital_output_srv

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::drive_cmd

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::drive_mode

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::has_gyro

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::joint_states_pub

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::max_abs_yaw_vel

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::min_abs_yaw_vel

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::odom_angular_scale_correction

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::odom_frame

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::odom_linear_scale_correction

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::odom_pub

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::operate_mode

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::operating_mode_srv

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::port

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::publish_tf

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::req_cmd_vel

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::robot

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::sensor_handler

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::sensor_state

Definition at line 71 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::sensor_state_pub

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::stop_motors_on_bump

Definition at line 97 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::transform_broadcaster

Definition at line 119 of file wheeled_node.py.

wheeled_node.WheeledRobin_Node::update_rate

Definition at line 97 of file wheeled_node.py.

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

• wheeled_node.py