#include <roch_hardware.h>

Inheritance diagram for roch_base::rochHardware:

Classes
struct	CliffEvent
struct	Joint
struct	PSDEvent
struct	SixAxisGyro
struct	ThreeAxisGyro
struct	UltEvent
Public Member Functions
void	getDifferentControlConstantData ()
void	getPlatAccData ()
void	getPlatformName ()
void	getRangefinderData ()
void	publishRawData ()
void	reportLoopDuration (const ros::Duration &duration)
	rochHardware (ros::NodeHandle nh, ros::NodeHandle private_nh, double target_control_freq)
void	showRawData ()
void	updateDiagnostics ()
void	updateJointsFromHardware ()
void	writeCommandsToHardware ()
void	writeOverallSpeedCommandsToHardware ()
Public Attributes
double	angular_velocity [3]
double	angular_velocity_covariance [9]
hardware_interface::ImuSensorHandle::Data	imuMsgData
double	linear_acceleration [3]
double	linear_acceleration_covariance [9]
double	orientation [4]
double	orientation_covariance [9]
Private Member Functions
double	angularToLinear (const double &angle) const
void	initializeDiagnostics ()
void	limitDifferentialSpeed (double &travel_speed_left, double &travel_speed_right)
double	linearToAngular (const double &travel) const
void	publishCliffEvent (const double &left, const double &right)
void	publishPSDEvent (const double &left, const double &center, const double &right)
void	publishSensorState ()
void	publishUltEvent (const double &left, const double &center, const double &right)
void	publishWheelEvent (const float &leftOffset, const float &rightOffset)
void	registerControlInterfaces ()
void	resetTravelOffset ()
Private Attributes
PSDEvent	centerpsdevent
UltEvent	centerultevent
ros::Publisher	cliff_event_publisher_
double	cliff_height_
std::vector< double >	cliffbottom
ros::Publisher	diagnostic_publisher_
diagnostic_updater::Updater	diagnostic_updater_
std::string	gyro_link_frame_
struct roch_base::rochHardware::ThreeAxisGyro	gyroData
hardware_interface::ImuSensorInterface	imu_sensor_interface_
hardware_interface::JointStateInterface	joint_state_interface_
struct roch_base::rochHardware::Joint	joints_ [2]
CliffEvent	leftcliffevent
PSDEvent	leftpsdevent
UltEvent	leftultevent
double	max_accel_
double	max_speed_
ros::NodeHandle	nh_
double	polling_timeout_
rochHardwareDiagnosticTask < sawyer::DataPowerSystem >	power_status_task_
ros::NodeHandle	private_nh_
ros::Publisher	psd_event_publisher_
double	PSD_length_
std::vector< double >	psdbottom
ros::Publisher	raw_data_command_publisher_
CliffEvent	rightcliffevent
PSDEvent	rightpsdevent
UltEvent	rightultevent
roch_msgs::RochStatus	roch_status_msg_
rochHardwareDiagnosticTask < sawyer::DataSafetySystemStatus >	safety_status_task_
ros::Publisher	sensor_state_publisher_
struct roch_base::rochHardware::SixAxisGyro	sixGyro
rochSoftwareDiagnosticTask	software_status_task_
rochHardwareDiagnosticTask < sawyer::DataSystemStatus >	system_status_task_
ros::Publisher	ult_event_publisher_
double	ult_length_
std::vector< double >	ultbottom
hardware_interface::VelocityJointInterface	velocity_joint_interface_
double	wheel_diameter_

Detailed Description

Class representing roch hardware, allows for ros_control to modify internal state via joint interfaces

Definition at line 63 of file roch_hardware.h.

Constructor & Destructor Documentation

roch_base::rochHardware::rochHardware	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh,
		double	target_control_freq
	)

Initialize roch hardware

Definition at line 47 of file roch_hardware.cpp.

Member Function Documentation

double roch_base::rochHardware::angularToLinear ( const double & angle ) const [private]

RobotHW provides velocity command in rad/s, roch needs m/s,

Definition at line 672 of file roch_hardware.cpp.

void roch_base::rochHardware::getDifferentControlConstantData ( )

Definition at line 188 of file roch_hardware.cpp.

void roch_base::rochHardware::getPlatAccData ( )

Definition at line 154 of file roch_hardware.cpp.

void roch_base::rochHardware::getPlatformName ( )

Definition at line 176 of file roch_hardware.cpp.

void roch_base::rochHardware::getRangefinderData ( )

Definition at line 128 of file roch_hardware.cpp.

void roch_base::rochHardware::initializeDiagnostics ( ) [private]

Register diagnostic tasks with updater class

Definition at line 206 of file roch_hardware.cpp.

void roch_base::rochHardware::limitDifferentialSpeed	(	double &	diff_speed_left,
		double &	diff_speed_right
	)		`[private]`

Scale left and right speed outputs to maintain ros_control's desired trajectory without saturating the outputs

Definition at line 650 of file roch_hardware.cpp.

double roch_base::rochHardware::linearToAngular ( const double & travel ) const [private]

roch reports travel in metres, need radians for ros_control RobotHW

Definition at line 664 of file roch_hardware.cpp.

void roch_base::rochHardware::publishCliffEvent	(	const double &	left,
		const double &	right
	)		`[private]`

Definition at line 461 of file roch_hardware.cpp.

void roch_base::rochHardware::publishPSDEvent	(	const double &	left,
		const double &	center,
		const double &	right
	)		`[private]`

Definition at line 587 of file roch_hardware.cpp.

void roch_base::rochHardware::publishRawData ( )

Definition at line 442 of file roch_hardware.cpp.

void roch_base::rochHardware::publishSensorState ( ) [private]

Definition at line 553 of file roch_hardware.cpp.

void roch_base::rochHardware::publishUltEvent	(	const double &	left,
		const double &	center,
		const double &	right
	)		`[private]`

Definition at line 498 of file roch_hardware.cpp.

void roch_base::rochHardware::publishWheelEvent	(	const float &	leftOffset,
		const float &	rightOffset
	)		`[private]`

void roch_base::rochHardware::registerControlInterfaces ( ) [private]

Register interfaces with the RobotHW interface manager, allowing ros_control operation

Definition at line 233 of file roch_hardware.cpp.

void roch_base::rochHardware::reportLoopDuration ( const ros::Duration & duration )

Update diagnostics with control loop timing information

Definition at line 642 of file roch_hardware.cpp.

void roch_base::rochHardware::resetTravelOffset ( ) [private]

Get current encoder travel offsets from MCU and bias future encoder readings against them

Definition at line 78 of file roch_hardware.cpp.

void roch_base::rochHardware::showRawData ( )

void roch_base::rochHardware::updateDiagnostics ( )

External hook to trigger diagnostic update

Definition at line 313 of file roch_hardware.cpp.

void roch_base::rochHardware::updateJointsFromHardware ( )

Pull latest speed and travel measurements from MCU, and store in joint structure for ros_control

Definition at line 324 of file roch_hardware.cpp.

void roch_base::rochHardware::writeCommandsToHardware ( )

Get latest velocity commands from ros_control via joint structure, and send to MCU

Definition at line 414 of file roch_hardware.cpp.

void roch_base::rochHardware::writeOverallSpeedCommandsToHardware ( )

Get latest velocity commands from ros_control via joint structure, and send overall speed to MCU

Definition at line 432 of file roch_hardware.cpp.

Member Data Documentation

double roch_base::rochHardware::angular_velocity[3]

Definition at line 99 of file roch_hardware.h.

double roch_base::rochHardware::angular_velocity_covariance[9]

Definition at line 97 of file roch_hardware.h.

PSDEvent roch_base::rochHardware::centerpsdevent [private]

Definition at line 247 of file roch_hardware.h.

UltEvent roch_base::rochHardware::centerultevent [private]

Definition at line 245 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::cliff_event_publisher_ [private]

Definition at line 135 of file roch_hardware.h.

double roch_base::rochHardware::cliff_height_ [private]

Definition at line 149 of file roch_hardware.h.

std::vector<double> roch_base::rochHardware::cliffbottom [private]

Definition at line 156 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::diagnostic_publisher_ [private]

Definition at line 133 of file roch_hardware.h.

diagnostic_updater::Updater roch_base::rochHardware::diagnostic_updater_ [private]

Definition at line 138 of file roch_hardware.h.

std::string roch_base::rochHardware::gyro_link_frame_ [private]

Definition at line 155 of file roch_hardware.h.

struct roch_base::rochHardware::ThreeAxisGyro roch_base::rochHardware::gyroData [private]

hardware_interface::ImuSensorInterface roch_base::rochHardware::imu_sensor_interface_ [private]

Definition at line 130 of file roch_hardware.h.

hardware_interface::ImuSensorHandle::Data roch_base::rochHardware::imuMsgData

Definition at line 94 of file roch_hardware.h.

hardware_interface::JointStateInterface roch_base::rochHardware::joint_state_interface_ [private]

Definition at line 128 of file roch_hardware.h.

struct roch_base::rochHardware::Joint roch_base::rochHardware::joints_[2] [private]

CliffEvent roch_base::rochHardware::leftcliffevent [private]

Definition at line 243 of file roch_hardware.h.

PSDEvent roch_base::rochHardware::leftpsdevent [private]

Definition at line 247 of file roch_hardware.h.

UltEvent roch_base::rochHardware::leftultevent [private]

Definition at line 245 of file roch_hardware.h.

double roch_base::rochHardware::linear_acceleration[3]

Definition at line 100 of file roch_hardware.h.

double roch_base::rochHardware::linear_acceleration_covariance[9]

Definition at line 98 of file roch_hardware.h.

double roch_base::rochHardware::max_accel_ [private]

Definition at line 145 of file roch_hardware.h.

double roch_base::rochHardware::max_speed_ [private]

Definition at line 145 of file roch_hardware.h.

ros::NodeHandle roch_base::rochHardware::nh_ [private]

Definition at line 125 of file roch_hardware.h.

double roch_base::rochHardware::orientation[4]

Definition at line 95 of file roch_hardware.h.

double roch_base::rochHardware::orientation_covariance[9]

Definition at line 96 of file roch_hardware.h.

double roch_base::rochHardware::polling_timeout_ [private]

Definition at line 147 of file roch_hardware.h.

rochHardwareDiagnosticTask<sawyer::DataPowerSystem> roch_base::rochHardware::power_status_task_ [private]

Definition at line 140 of file roch_hardware.h.

ros::NodeHandle roch_base::rochHardware::private_nh_ [private]

Definition at line 125 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::psd_event_publisher_ [private]

Definition at line 135 of file roch_hardware.h.

double roch_base::rochHardware::PSD_length_ [private]

Definition at line 154 of file roch_hardware.h.

std::vector<double> roch_base::rochHardware::psdbottom [private]

Definition at line 158 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::raw_data_command_publisher_ [private]

Definition at line 134 of file roch_hardware.h.

CliffEvent roch_base::rochHardware::rightcliffevent [private]

Definition at line 243 of file roch_hardware.h.

PSDEvent roch_base::rochHardware::rightpsdevent [private]

Definition at line 247 of file roch_hardware.h.

UltEvent roch_base::rochHardware::rightultevent [private]

Definition at line 245 of file roch_hardware.h.

roch_msgs::RochStatus roch_base::rochHardware::roch_status_msg_ [private]

Definition at line 137 of file roch_hardware.h.

rochHardwareDiagnosticTask<sawyer::DataSafetySystemStatus> roch_base::rochHardware::safety_status_task_ [private]

Definition at line 141 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::sensor_state_publisher_ [private]

Definition at line 136 of file roch_hardware.h.

struct roch_base::rochHardware::SixAxisGyro roch_base::rochHardware::sixGyro [private]

rochSoftwareDiagnosticTask roch_base::rochHardware::software_status_task_ [private]

Definition at line 142 of file roch_hardware.h.

rochHardwareDiagnosticTask<sawyer::DataSystemStatus> roch_base::rochHardware::system_status_task_ [private]

Definition at line 139 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::ult_event_publisher_ [private]

Definition at line 135 of file roch_hardware.h.

double roch_base::rochHardware::ult_length_ [private]

Definition at line 152 of file roch_hardware.h.

std::vector<double> roch_base::rochHardware::ultbottom [private]

Definition at line 157 of file roch_hardware.h.

hardware_interface::VelocityJointInterface roch_base::rochHardware::velocity_joint_interface_ [private]

Definition at line 129 of file roch_hardware.h.

double roch_base::rochHardware::wheel_diameter_ [private]

Definition at line 145 of file roch_hardware.h.

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

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation