pepperl_fuchs::R2000Node Class Reference

ROS driver node for the Pepperl+Fuchs R2000 laser range finder. More...

#include <r2000_node.h>

List of all members.

Public Member Functions
void	cmdMsgCallback (const std_msgs::StringConstPtr &msg)
	Callback function for control commands.
	R2000Node ()
	Initialize and connect to laser range finder.
Private Member Functions
bool	connect ()
void	getScanData (const ros::TimerEvent &e)
	Time callback function for getting data from the driver and sending them out.
Private Attributes
ros::Subscriber	cmd_subscriber_
	ROS subscriber for receiving control commands.
R2000Driver *	driver_
	Pointer to driver.
std::string	frame_id_
	frame_id of sensor_msgs/Laserscan messages
ros::Timer	get_scan_data_timer_
	Callback timer for getScanData(...)
ros::NodeHandle	nh_
	Internal ROS node handle.
int	samples_per_scan_
	samples_per_scan parameter
int	scan_frequency_
	scan_frequency parameter
ros::Publisher	scan_publisher_
	ROS publisher for publishing scan data.
std::string	scanner_ip_
	IP or hostname of laser range finder.

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Detailed Description

ROS driver node for the Pepperl+Fuchs R2000 laser range finder.

Definition at line 41 of file r2000_node.h.

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Constructor & Destructor Documentation

pepperl_fuchs::R2000Node::R2000Node

(

)

Initialize and connect to laser range finder.

Definition at line 37 of file r2000_node.cpp.

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Member Function Documentation

void pepperl_fuchs::R2000Node::cmdMsgCallback

(

const std_msgs::StringConstPtr &

msg

)

Callback function for control commands.

Definition at line 145 of file r2000_node.cpp.

bool pepperl_fuchs::R2000Node::connect

(

)

[private]

Connect to the laser range finder

Returns:

True on success, false otherwise

Definition at line 64 of file r2000_node.cpp.

void pepperl_fuchs::R2000Node::getScanData

(

const ros::TimerEvent &

e

)

[private]

Time callback function for getting data from the driver and sending them out.

Definition at line 106 of file r2000_node.cpp.

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Member Data Documentation

ros::Subscriber pepperl_fuchs::R2000Node::cmd_subscriber_ [private]

ROS subscriber for receiving control commands.

Definition at line 68 of file r2000_node.h.

R2000Driver* pepperl_fuchs::R2000Node::driver_ [private]

Pointer to driver.

Definition at line 83 of file r2000_node.h.

std::string pepperl_fuchs::R2000Node::frame_id_ [private]

frame_id of sensor_msgs/Laserscan messages

Definition at line 71 of file r2000_node.h.

ros::Timer pepperl_fuchs::R2000Node::get_scan_data_timer_ [private]

Callback timer for getScanData(...)

Definition at line 62 of file r2000_node.h.

ros::NodeHandle pepperl_fuchs::R2000Node::nh_ [private]

Internal ROS node handle.

Definition at line 59 of file r2000_node.h.

int pepperl_fuchs::R2000Node::samples_per_scan_ [private]

samples_per_scan parameter

Definition at line 80 of file r2000_node.h.

int pepperl_fuchs::R2000Node::scan_frequency_ [private]

scan_frequency parameter

Definition at line 77 of file r2000_node.h.

ros::Publisher pepperl_fuchs::R2000Node::scan_publisher_ [private]

ROS publisher for publishing scan data.

Definition at line 65 of file r2000_node.h.

std::string pepperl_fuchs::R2000Node::scanner_ip_ [private]

IP or hostname of laser range finder.

Definition at line 74 of file r2000_node.h.

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

• r2000_node.h
• r2000_node.cpp