MainNode Class Reference

List of all members.

Public Member Functions
void	cmdvel_callback (const geometry_msgs::Twist &twist_msg)
void	cmdvel_loop ()
void	cmdvel_run ()
void	cmdvel_setup ()
	MainNode ()
void	odom_loop ()
void	odom_ls_run ()
void	odom_ms_run ()
void	odom_publish ()
void	odom_setup ()
void	odom_stream ()
int	run ()
Protected Attributes
std::string	base_frame
int	baud
ros::Subscriber	cmdvel_sub
std::string	cmdvel_topic
serial::Serial	controller
uint32_t	current_last_time
float	current_left
roboteq_diff_msgs::Duplex	current_msg
ros::Publisher	current_pub
float	current_right
int	encoder_cpr
int	encoder_ppr
float	energy
std_msgs::Float32	energy_msg
ros::Publisher	energy_pub
uint32_t	hstimer
uint32_t	lstimer
uint32_t	mstimer
ros::NodeHandle	nh
tf::TransformBroadcaster	odom_broadcaster
char	odom_buf [24]
int32_t	odom_encoder_left
int32_t	odom_encoder_right
char	odom_encoder_toss
std::string	odom_frame
int	odom_idx
uint32_t	odom_last_time
float	odom_last_x
float	odom_last_y
float	odom_last_yaw
nav_msgs::Odometry	odom_msg
ros::Publisher	odom_pub
std::string	odom_topic
float	odom_x
float	odom_y
float	odom_yaw
bool	open_loop
std::string	port
bool	pub_odom_tf
uint32_t	starttime
float	temperature
std_msgs::Float32	temperature_msg
ros::Publisher	temperature_pub
geometry_msgs::TransformStamped	tf_msg
double	track_width
float	voltage
std_msgs::Float32	voltage_msg
ros::Publisher	voltage_pub
double	wheel_circumference

---

Detailed Description

Definition at line 70 of file driver.cpp.

---

Constructor & Destructor Documentation

MainNode::MainNode

(

)

Definition at line 180 of file driver.cpp.

---

Member Function Documentation

void MainNode::cmdvel_callback

(

const geometry_msgs::Twist &

twist_msg

)

Definition at line 247 of file driver.cpp.

void MainNode::cmdvel_loop

(

)

Definition at line 365 of file driver.cpp.

void MainNode::cmdvel_run

(

)

Definition at line 369 of file driver.cpp.

void MainNode::cmdvel_setup

(

)

Definition at line 288 of file driver.cpp.

void MainNode::odom_loop

(

)

Definition at line 526 of file driver.cpp.

void MainNode::odom_ls_run

(

)

Definition at line 662 of file driver.cpp.

void MainNode::odom_ms_run

(

)

Definition at line 649 of file driver.cpp.

void MainNode::odom_publish

(

)

Definition at line 682 of file driver.cpp.

void MainNode::odom_setup

(

)

Definition at line 432 of file driver.cpp.

void MainNode::odom_stream

(

)

Definition at line 504 of file driver.cpp.

int MainNode::run

(

)

Definition at line 776 of file driver.cpp.

---

Member Data Documentation

std::string MainNode::base_frame [protected]

Definition at line 167 of file driver.cpp.

int MainNode::baud [protected]

Definition at line 171 of file driver.cpp.

ros::Subscriber MainNode::cmdvel_sub [protected]

Definition at line 115 of file driver.cpp.

std::string MainNode::cmdvel_topic [protected]

Definition at line 168 of file driver.cpp.

serial::Serial MainNode::controller [protected]

Definition at line 105 of file driver.cpp.

uint32_t MainNode::current_last_time [protected]

Definition at line 161 of file driver.cpp.

float MainNode::current_left [protected]

Definition at line 158 of file driver.cpp.

roboteq_diff_msgs::Duplex MainNode::current_msg [protected]

Definition at line 128 of file driver.cpp.

ros::Publisher MainNode::current_pub [protected]

Definition at line 129 of file driver.cpp.

float MainNode::current_right [protected]

Definition at line 157 of file driver.cpp.

int MainNode::encoder_cpr [protected]

Definition at line 176 of file driver.cpp.

int MainNode::encoder_ppr [protected]

Definition at line 175 of file driver.cpp.

float MainNode::energy [protected]

Definition at line 159 of file driver.cpp.

std_msgs::Float32 MainNode::energy_msg [protected]

Definition at line 130 of file driver.cpp.

ros::Publisher MainNode::energy_pub [protected]

Definition at line 131 of file driver.cpp.

uint32_t MainNode::hstimer [protected]

Definition at line 108 of file driver.cpp.

uint32_t MainNode::lstimer [protected]

Definition at line 110 of file driver.cpp.

uint32_t MainNode::mstimer [protected]

Definition at line 109 of file driver.cpp.

ros::NodeHandle MainNode::nh [protected]

Definition at line 103 of file driver.cpp.

tf::TransformBroadcaster MainNode::odom_broadcaster [protected]

Definition at line 121 of file driver.cpp.

char MainNode::odom_buf[24] [protected]

Definition at line 138 of file driver.cpp.

int32_t MainNode::odom_encoder_left [protected]

Definition at line 143 of file driver.cpp.

int32_t MainNode::odom_encoder_right [protected]

Definition at line 144 of file driver.cpp.

char MainNode::odom_encoder_toss [protected]

Definition at line 141 of file driver.cpp.

std::string MainNode::odom_frame [protected]

Definition at line 166 of file driver.cpp.

int MainNode::odom_idx [protected]

Definition at line 137 of file driver.cpp.

uint32_t MainNode::odom_last_time [protected]

Definition at line 153 of file driver.cpp.

float MainNode::odom_last_x [protected]

Definition at line 149 of file driver.cpp.

float MainNode::odom_last_y [protected]

Definition at line 150 of file driver.cpp.

float MainNode::odom_last_yaw [protected]

Definition at line 151 of file driver.cpp.

nav_msgs::Odometry MainNode::odom_msg [protected]

Definition at line 122 of file driver.cpp.

ros::Publisher MainNode::odom_pub [protected]

Definition at line 123 of file driver.cpp.

std::string MainNode::odom_topic [protected]

Definition at line 169 of file driver.cpp.

float MainNode::odom_x [protected]

Definition at line 146 of file driver.cpp.

float MainNode::odom_y [protected]

Definition at line 147 of file driver.cpp.

float MainNode::odom_yaw [protected]

Definition at line 148 of file driver.cpp.

bool MainNode::open_loop [protected]

Definition at line 172 of file driver.cpp.

std::string MainNode::port [protected]

Definition at line 170 of file driver.cpp.

bool MainNode::pub_odom_tf [protected]

Definition at line 165 of file driver.cpp.

uint32_t MainNode::starttime [protected]

Definition at line 107 of file driver.cpp.

float MainNode::temperature [protected]

Definition at line 160 of file driver.cpp.

std_msgs::Float32 MainNode::temperature_msg [protected]

Definition at line 132 of file driver.cpp.

ros::Publisher MainNode::temperature_pub [protected]

Definition at line 133 of file driver.cpp.

geometry_msgs::TransformStamped MainNode::tf_msg [protected]

Definition at line 120 of file driver.cpp.

double MainNode::track_width [protected]

Definition at line 174 of file driver.cpp.

float MainNode::voltage [protected]

Definition at line 156 of file driver.cpp.

std_msgs::Float32 MainNode::voltage_msg [protected]

Definition at line 126 of file driver.cpp.

ros::Publisher MainNode::voltage_pub [protected]

Definition at line 127 of file driver.cpp.

double MainNode::wheel_circumference [protected]

Definition at line 173 of file driver.cpp.

---

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

• driver.cpp