00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2018, Dataspeed Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Dataspeed Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ULCNODE_H 00036 #define ULCNODE_H 00037 00038 #include <ros/ros.h> 00039 #include <std_msgs/Bool.h> 00040 #include <geometry_msgs/TwistStamped.h> 00041 #include <can_msgs/Frame.h> 00042 #include <dataspeed_ulc_msgs/UlcCmd.h> 00043 #include <dataspeed_ulc_msgs/UlcReport.h> 00044 00045 namespace dataspeed_ulc_can 00046 { 00047 00048 class UlcNode 00049 { 00050 public: 00051 UlcNode(ros::NodeHandle &n, ros::NodeHandle &pn); 00052 private: 00053 00054 void recvCan(const can_msgs::FrameConstPtr& msg); 00055 void recvUlcCmd(const dataspeed_ulc_msgs::UlcCmdConstPtr& msg); 00056 void recvTwistCmd(const geometry_msgs::Twist& msg); 00057 void recvTwist(const geometry_msgs::TwistConstPtr& msg); 00058 void recvTwistStamped(const geometry_msgs::TwistStampedConstPtr& msg); 00059 void recvEnable(const std_msgs::BoolConstPtr& msg); 00060 void configTimerCb(const ros::TimerEvent& event); 00061 void sendCmdMsg(bool cfg); 00062 void sendCfgMsg(); 00063 00064 ros::Subscriber sub_cmd_; 00065 ros::Subscriber sub_twist_; 00066 ros::Subscriber sub_twist_stamped_; 00067 ros::Subscriber sub_can_; 00068 ros::Subscriber sub_enable_; 00069 ros::Publisher pub_report_; 00070 ros::Publisher pub_can_; 00071 ros::Timer config_timer_; 00072 00073 dataspeed_ulc_msgs::UlcCmd ulc_cmd_; 00074 ros::Time cmd_stamp_; 00075 bool enable_; 00076 }; 00077 00078 } 00079 00080 #endif // ULCNODE_H