servoPanTilt Class Reference

Controls panning and tilting of CARL's cameras. More...

#include <servo_pan_tilt.h>

List of all members.

Public Member Functions
	servoPanTilt ()
	Constructor.
Private Member Functions
void	backJointStateCallback (const sensor_msgs::JointState::ConstPtr &msg)
float	calculateLookAngle (float x, float z)
	Determine the servo command angle to look at a given point with the Asus servo.
void	frontJointStateCallback (const sensor_msgs::JointState::ConstPtr &msg)
bool	lookAtFrame (carl_dynamixel::LookAtFrame::Request &req, carl_dynamixel::LookAtFrame::Response &res)
	Callback for pointing the servo at a point.
bool	lookAtPoint (carl_dynamixel::LookAtPoint::Request &req, carl_dynamixel::LookAtPoint::Response &res)
	Callback for pointing the servo at a point.
void	panCallback (const std_msgs::Float64::ConstPtr &msg)
void	tiltCallback (const std_msgs::Float64::ConstPtr &msg)
Private Attributes
ros::Publisher	asusServoControllerPublisher
ros::Subscriber	backJointStateSubscriber
float	backServoPos
ros::Publisher	creativeServoControllerPublisher
ros::Subscriber	frontJointStateSubscriber
float	frontServoPos
ros::ServiceServer	lookAtFrameServer
ros::ServiceServer	lookAtPointServer
ros::NodeHandle	node
ros::Subscriber	panCommandSubscriber
tf::TransformListener	tfListener
ros::Subscriber	tiltCommandSubscriber

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Detailed Description

Controls panning and tilting of CARL's cameras.

servoPanTilt creates a ROS node that allows pan and tilt control of the servos that CARL's cameras are mounted on.

Definition at line 32 of file servo_pan_tilt.h.

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Constructor & Destructor Documentation

servoPanTilt::servoPanTilt

(

)

Constructor.

Definition at line 5 of file servo_pan_tilt.cpp.

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Member Function Documentation

void servoPanTilt::backJointStateCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[private]

Back servo joint state callback.

Parameters:

msg	servo joint states

Definition at line 23 of file servo_pan_tilt.cpp.

float servoPanTilt::calculateLookAngle	(	float	x,
		float	z
	)		[private]

Determine the servo command angle to look at a given point with the Asus servo.

Parameters:

x	forward distance from camera
z	height distance from camera

Returns:

an angle (rad) to use as a servo command to look at the specified point

Definition at line 78 of file servo_pan_tilt.cpp.

void servoPanTilt::frontJointStateCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[private]

Front servo joint state callback.

Parameters:

msg	servo joint states

Definition at line 28 of file servo_pan_tilt.cpp.

bool servoPanTilt::lookAtFrame	(	carl_dynamixel::LookAtFrame::Request &	req,
		carl_dynamixel::LookAtFrame::Response &	res
	)		[private]

Callback for pointing the servo at a point.

Parameters:

req	service request
res	empty service response

Returns:

true on success

Definition at line 66 of file servo_pan_tilt.cpp.

bool servoPanTilt::lookAtPoint	(	carl_dynamixel::LookAtPoint::Request &	req,
		carl_dynamixel::LookAtPoint::Response &	res
	)		[private]

Callback for pointing the servo at a point.

Parameters:

req	service request
res	empty service response

Returns:

true on success

Definition at line 53 of file servo_pan_tilt.cpp.

void servoPanTilt::panCallback

(

const std_msgs::Float64::ConstPtr &

msg

)

[private]

Servo pan command callback

Parameters:

msg	message denoting the desired pan velocity (rad/s)

Definition at line 43 of file servo_pan_tilt.cpp.

void servoPanTilt::tiltCallback

(

const std_msgs::Float64::ConstPtr &

msg

)

[private]

Servo tilt command callback

Parameters:

msg	message denoting the desired tilt velocity (rad/s)

Definition at line 33 of file servo_pan_tilt.cpp.

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Member Data Documentation

ros::Publisher servoPanTilt::asusServoControllerPublisher [private]

position command for the asus servo

Definition at line 93 of file servo_pan_tilt.h.

ros::Subscriber servoPanTilt::backJointStateSubscriber [private]

back (asus) servo joint state subscrbier

Definition at line 97 of file servo_pan_tilt.h.

float servoPanTilt::backServoPos [private]

the current position of the back servo

Definition at line 105 of file servo_pan_tilt.h.

ros::Publisher servoPanTilt::creativeServoControllerPublisher [private]

position command for the creative camera servo

Definition at line 94 of file servo_pan_tilt.h.

ros::Subscriber servoPanTilt::frontJointStateSubscriber [private]

front (creative) servo joint state subscrbier

Definition at line 98 of file servo_pan_tilt.h.

float servoPanTilt::frontServoPos [private]

the current position of the front servo

Definition at line 106 of file servo_pan_tilt.h.

ros::ServiceServer servoPanTilt::lookAtFrameServer [private]

Definition at line 101 of file servo_pan_tilt.h.

ros::ServiceServer servoPanTilt::lookAtPointServer [private]

Definition at line 100 of file servo_pan_tilt.h.

ros::NodeHandle servoPanTilt::node [private]

a handle for this ROS node

Definition at line 91 of file servo_pan_tilt.h.

ros::Subscriber servoPanTilt::panCommandSubscriber [private]

subscriber for camera pan commands

Definition at line 96 of file servo_pan_tilt.h.

tf::TransformListener servoPanTilt::tfListener [private]

Definition at line 103 of file servo_pan_tilt.h.

ros::Subscriber servoPanTilt::tiltCommandSubscriber [private]

subscriber for camera tilt commands

Definition at line 95 of file servo_pan_tilt.h.

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

• servo_pan_tilt.h
• servo_pan_tilt.cpp