Public Member Functions
	AGVSControllerClass (ros::NodeHandle h)
	Public constructor.
void	check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	commandCallback (const ackermann_msgs::AckermannDriveStamped::ConstPtr &msg)
void	imuCallback (const sensor_msgs::Imu &imu_msg)
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)
void	PublishOdometry ()
double	saturation (double u, double min, double max)
void	SetElevatorPosition (double val)
bool	spin ()
bool	srvCallback_LowerElevator (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	srvCallback_RaiseElevator (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)
int	starting ()
	Controller startup in realtime.
void	stopping ()
	Controller stopping.
void	UpdateControl ()
void	UpdateOdometry ()
	Updates the values of the odometry Ackerman's odometry calculation (using motor speed and position of the motor direction)
Static Public Member Functions
static void	radnorm (double *radians)
	Normalize in rad.
static double	radnorm2 (double value)
Public Attributes
double	a_ref_
double	agvs_dist_to_center_
double	agvs_wheel_diameter_
double	ang_vel_x_
double	ang_vel_y_
double	ang_vel_z_
double	angularSpeedRads_
ackermann_msgs::AckermannDriveStamped	base_vel_msg_
int	bwd_pos_
std::string	bwd_pos_topic_
int	bwd_vel_
std::string	bwd_vel_topic_
ros::Subscriber	cmd_sub_
diagnostic_updater::FunctionDiagnosticTask	command_freq_
double	desired_freq_
diagnostic_updater::Updater	diagnostic_
std::string	elevator_pos_topic_
diagnostic_updater::FrequencyStatus	freq_diag_
int	fwd_pos_
std::string	fwd_pos_topic_
int	fwd_vel_
std::string	fwd_vel_topic_
ros::Subscriber	imu_sub_
std::string	imu_topic_
std::string	joint_back_motor_wheel
std::string	joint_back_wheel
std::string	joint_front_motor_wheel
std::string	joint_front_wheel
sensor_msgs::JointState	joint_state_
ros::Subscriber	joint_state_sub_
ros::Time	last_command_time_
double	lin_acc_x_
double	lin_acc_y_
double	lin_acc_z_
double	linearSpeedXMps_
double	linearSpeedYMps_
ros::NodeHandle	node_handle_
tf::TransformBroadcaster	odom_broadcaster
ros::Publisher	odom_pub_
double	orientation_diff_w_
double	orientation_diff_x_
double	orientation_diff_y_
double	orientation_diff_z_
ros::NodeHandle	private_node_handle_
bool	publish_odom_tf_
bool	read_state_
ros::Publisher	ref_pos_bwd_
ros::Publisher	ref_pos_elevator_
ros::Publisher	ref_pos_fwd_
ros::Publisher	ref_vel_bwd_
ros::Publisher	ref_vel_fwd_
std::string	robot_model_
double	robot_pose_pa_
double	robot_pose_px_
double	robot_pose_py_
double	robot_pose_vx_
double	robot_pose_vy_
ros::ServiceServer	srv_GetMode_
ros::ServiceServer	srv_LowerElevator_
ros::ServiceServer	srv_RaiseElevator_
ros::ServiceServer	srv_SetMode_
ros::ServiceServer	srv_SetOdometry_
diagnostic_updater::HeaderlessTopicDiagnostic *	subs_command_freq
double	v_mps_
double	v_ref_

Detailed Description

Definition at line 68 of file agvs_robot_control.cpp.

Constructor & Destructor Documentation

AGVSControllerClass::AGVSControllerClass ( ros::NodeHandle h ) [inline]

Public constructor.

Definition at line 190 of file agvs_robot_control.cpp.

Member Function Documentation

void AGVSControllerClass::check_command_subscriber ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline]

Definition at line 501 of file agvs_robot_control.cpp.

void AGVSControllerClass::commandCallback ( const ackermann_msgs::AckermannDriveStamped::ConstPtr & msg ) [inline]

Definition at line 554 of file agvs_robot_control.cpp.

void AGVSControllerClass::imuCallback ( const sensor_msgs::Imu & imu_msg ) [inline]

Definition at line 567 of file agvs_robot_control.cpp.

void AGVSControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr & msg ) [inline]

Definition at line 547 of file agvs_robot_control.cpp.

void AGVSControllerClass::PublishOdometry ( ) [inline]

Definition at line 381 of file agvs_robot_control.cpp.

static void AGVSControllerClass::radnorm ( double * radians ) [inline, static]

Normalize in rad.

Definition at line 593 of file agvs_robot_control.cpp.

static double AGVSControllerClass::radnorm2 ( double value ) [inline, static]

Definition at line 603 of file agvs_robot_control.cpp.

double AGVSControllerClass::saturation	(	double	u,
		double	min,
		double	max
	)		`[inline]`

Definition at line 583 of file agvs_robot_control.cpp.

void AGVSControllerClass::SetElevatorPosition ( double val ) [inline]

Definition at line 484 of file agvs_robot_control.cpp.

bool AGVSControllerClass::spin ( ) [inline]

Definition at line 610 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_LowerElevator	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[inline]`

Definition at line 538 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_RaiseElevator	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[inline]`

Definition at line 529 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_SetOdometry	(	robotnik_msgs::set_odometry::Request &	request,
		robotnik_msgs::set_odometry::Response &	response
	)		`[inline]`