#include <kobuki_ros.hpp>

Public Member Functions
bool	init (ros::NodeHandle &nh, ros::NodeHandle &nh_pub)
	KobukiRos (std::string &node_name)
	Default constructor.
bool	update ()
	~KobukiRos ()
Private Member Functions
void	advertiseTopics (ros::NodeHandle &nh)
void	processStreamData ()
void	publishBumperEvent (const BumperEvent &event)
void	publishButtonEvent (const ButtonEvent &event)
void	publishCliffEvent (const CliffEvent &event)
void	publishControllerInfo ()
void	publishDockIRData ()
void	publishInertia ()
void	publishInputEvent (const InputEvent &event)
void	publishPowerEvent (const PowerEvent &event)
void	publishRawControlCommand (const std::vector< short > &velocity_commands)
void	publishRawDataCommand (Command::Buffer &buffer)
	Prints the raw data stream to a publisher.
void	publishRawDataStream (PacketFinder::BufferType &buffer)
	Prints the raw data stream to a publisher.
void	publishRawInertia ()
void	publishRobotEvent (const RobotEvent &event)
void	publishSensorState ()
void	publishVersionInfo (const VersionInfo &version_info)
	Publish fw, hw, sw version information.
void	publishWheelEvent (const WheelEvent &event)
void	publishWheelState ()
void	rosDebug (const std::string &msg)
void	rosError (const std::string &msg)
void	rosInfo (const std::string &msg)
void	rosNamed (const std::vector< std::string > &msgs)
void	rosWarn (const std::string &msg)
void	subscribeControllerInfoCommand (const kobuki_msgs::ControllerInfoConstPtr msg)
void	subscribeDigitalOutputCommand (const kobuki_msgs::DigitalOutputConstPtr)
void	subscribeExternalPowerCommand (const kobuki_msgs::ExternalPowerConstPtr)
void	subscribeLed1Command (const kobuki_msgs::LedConstPtr)
void	subscribeLed2Command (const kobuki_msgs::LedConstPtr)
void	subscribeMotorPower (const kobuki_msgs::MotorPowerConstPtr msg)
void	subscribeResetOdometry (const std_msgs::EmptyConstPtr)
	Reset the odometry variables.
void	subscribeSoundCommand (const kobuki_msgs::SoundConstPtr)
	Play a predefined sound (single sound or sound sequence)
void	subscribeTopics (ros::NodeHandle &nh)
void	subscribeVelocityCommand (const geometry_msgs::TwistConstPtr)
Private Attributes
AnalogInputTask	ainput_diagnostics
BatteryTask	battery_diagnostics
WallSensorTask	bumper_diagnostics
ros::Publisher	bumper_event_publisher
ros::Publisher	button_event_publisher
CliffSensorTask	cliff_diagnostics
ros::Publisher	cliff_event_publisher
bool	cmd_vel_timed_out_
ros::Subscriber	controller_info_command_subscriber
ros::Publisher	controller_info_publisher
ros::Subscriber	digital_output_command_subscriber
DigitalInputTask	dinput_diagnostics
ros::Publisher	dock_ir_publisher
ros::Subscriber	external_power_command_subscriber
GyroSensorTask	gyro_diagnostics
ros::Publisher	imu_data_publisher
ros::Publisher	input_event_publisher
ros::Publisher	joint_state_publisher
sensor_msgs::JointState	joint_states
Kobuki	kobuki
ros::Subscriber	led1_command_subscriber
ros::Subscriber	led2_command_subscriber
MotorCurrentTask	motor_diagnostics
ros::Subscriber	motor_power_subscriber
std::string	name
Odometry	odometry
ros::Publisher	power_event_publisher
ros::Publisher	raw_control_command_publisher
ros::Publisher	raw_data_command_publisher
ros::Publisher	raw_data_stream_publisher
ros::Publisher	raw_imu_data_publisher
ros::Subscriber	reset_odometry_subscriber
ros::Publisher	robot_event_publisher
ros::Publisher	sensor_state_publisher
bool	serial_timed_out_
ecl::Slot< const BumperEvent & >	slot_bumper_event
ecl::Slot< const ButtonEvent & >	slot_button_event
ecl::Slot< const CliffEvent & >	slot_cliff_event
ecl::Slot	slot_controller_info
ecl::Slot< const std::string & >	slot_debug
ecl::Slot< const std::string & >	slot_error
ecl::Slot< const std::string & >	slot_info
ecl::Slot< const InputEvent & >	slot_input_event
ecl::Slot< const std::vector < std::string > & >	slot_named
ecl::Slot< const PowerEvent & >	slot_power_event
ecl::Slot< const std::vector < short > & >	slot_raw_control_command
ecl::Slot< Command::Buffer & >	slot_raw_data_command
ecl::Slot < PacketFinder::BufferType & >	slot_raw_data_stream
ecl::Slot< const RobotEvent & >	slot_robot_event
ecl::Slot	slot_stream_data
ecl::Slot< const VersionInfo & >	slot_version_info
ecl::Slot< const std::string & >	slot_warn
ecl::Slot< const WheelEvent & >	slot_wheel_event
ros::Subscriber	sound_command_subscriber
MotorStateTask	state_diagnostics
diagnostic_updater::Updater	updater
ros::Subscriber	velocity_command_subscriber
ros::Publisher	version_info_publisher
WatchdogTask	watchdog_diagnostics
WheelDropTask	wheel_diagnostics
ros::Publisher	wheel_event_publisher

Detailed Description

Definition at line 84 of file kobuki_ros.hpp.

Constructor & Destructor Documentation

kobuki::KobukiRos::KobukiRos ( std::string & node_name )

Default constructor.

Make sure you call the init() method to fully define this node.

Definition at line 61 of file kobuki_ros.cpp.

kobuki::KobukiRos::~KobukiRos ( )

This will wait some time while kobuki internally closes its threads and destructs itself.

Definition at line 99 of file kobuki_ros.cpp.

Member Function Documentation

void kobuki::KobukiRos::advertiseTopics ( ros::NodeHandle & nh ) [private]

Two groups of publishers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 303 of file kobuki_ros.cpp.

bool kobuki::KobukiRos::init	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_pub
	)

Definition at line 104 of file kobuki_ros.cpp.

void kobuki::KobukiRos::processStreamData ( ) [private]

Definition at line 49 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishBumperEvent ( const BumperEvent & event ) [private]

Definition at line 287 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishButtonEvent ( const ButtonEvent & event ) [private]

Definition at line 267 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishCliffEvent ( const CliffEvent & event ) [private]

Definition at line 307 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishControllerInfo ( ) [private]

Definition at line 247 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishDockIRData ( ) [private]

Definition at line 184 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInertia ( ) [private]

Definition at line 117 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInputEvent ( const InputEvent & event ) [private]

Definition at line 371 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishPowerEvent ( const PowerEvent & event ) [private]

Definition at line 347 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawControlCommand ( const std::vector< short > & velocity_commands ) [private]

Definition at line 472 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawDataCommand ( Command::Buffer & buffer ) [private]

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data commands. Useful for debugging command to protocol byte packets to the firmware.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters:

buffer

Definition at line 410 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawDataStream ( PacketFinder::BufferType & buffer ) [private]

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data (incoming) stream. Useful for checking when bytes get mangled.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters:

buffer

Definition at line 437 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawInertia ( ) [private]

Definition at line 152 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRobotEvent ( const RobotEvent & event ) [private]

Definition at line 382 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishSensorState ( ) [private]

Definition at line 61 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishVersionInfo ( const VersionInfo & version_info ) [private]

Publish fw, hw, sw version information.

The driver will only gather this data when initialising so it is important that this publisher is latched.

Definition at line 216 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelEvent ( const WheelEvent & event ) [private]

Definition at line 328 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelState ( ) [private]

Definition at line 98 of file slot_callbacks.cpp.

void kobuki::KobukiRos::rosDebug ( const std::string & msg ) [inline, private]

Definition at line 174 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosError ( const std::string & msg ) [inline, private]

Definition at line 177 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosInfo ( const std::string & msg ) [inline, private]

Definition at line 175 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosNamed ( const std::vector< std::string > & msgs ) [inline, private]

Definition at line 178 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosWarn ( const std::string & msg ) [inline, private]

Definition at line 176 of file kobuki_ros.hpp.

void kobuki::KobukiRos::subscribeControllerInfoCommand ( const kobuki_msgs::ControllerInfoConstPtr msg ) [private]

Definition at line 228 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeDigitalOutputCommand ( const kobuki_msgs::DigitalOutputConstPtr msg ) [private]

Definition at line 93 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeExternalPowerCommand ( const kobuki_msgs::ExternalPowerConstPtr msg ) [private]

Definition at line 104 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed1Command ( const kobuki_msgs::LedConstPtr msg ) [private]

Definition at line 69 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed2Command ( const kobuki_msgs::LedConstPtr msg ) [private]

Definition at line 81 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeMotorPower ( const kobuki_msgs::MotorPowerConstPtr msg ) [private]

Definition at line 207 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeResetOdometry ( const std_msgs::EmptyConstPtr ) [private]

Reset the odometry variables.

Definition at line 195 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeSoundCommand ( const kobuki_msgs::SoundConstPtr msg ) [private]

Play a predefined sound (single sound or sound sequence)

Definition at line 155 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeTopics ( ros::NodeHandle & nh ) [private]

Two groups of subscribers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 335 of file kobuki_ros.cpp.

void kobuki::KobukiRos::subscribeVelocityCommand ( const geometry_msgs::TwistConstPtr msg ) [private]

Definition at line 53 of file subscriber_callbacks.cpp.

bool kobuki::KobukiRos::update ( )

This is a worker function that runs in a background thread initiated by the nodelet. It gathers diagnostics information from the kobuki driver, and broadcasts the results to the rest of the ros ecosystem.

Note that the actual driver data is collected via the slot callbacks in this class.