Public Member Functions | Private Member Functions | Private Attributes
roch_follower::RochFollower Class Reference
Inheritance diagram for roch_follower::RochFollower:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 RochFollower ()
 The constructor for the follower. Constructor for the follower.
 ~RochFollower ()

Private Member Functions

bool changeModeSrvCb (roch_msgs::SetFollowState::Request &request, roch_msgs::SetFollowState::Response &response)
void imagecb (const sensor_msgs::ImageConstPtr &depth_msg)
 Callback for point clouds. Callback for depth images. It finds the centroid of the points in a box in the center of the image. Publishes cmd_vel messages with the goal from the image.
virtual void onInit ()
 OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.
void publishBbox ()
void publishMarker (double x, double y, double z)
void reconfigure (roch_follower::FollowerConfig &config, uint32_t level)

Private Attributes

ros::Publisher bboxpub_
ros::Publisher cmdpub_
dynamic_reconfigure::Server
< roch_follower::FollowerConfig > * 
config_srv_
bool enabled_
double goal_z_
ros::Publisher markerpub_
double max_x_
double max_y_
double max_z_
double min_x_
double min_y_
ros::Subscriber sub_
ros::ServiceServer switch_srv_
double x_scale_
double z_scale_

Detailed Description

The roch follower nodelet. Subscribes to point clouds from the 3dsensor, processes them, and publishes command vel messages.

Definition at line 53 of file follower.cpp.


Constructor & Destructor Documentation

The constructor for the follower. Constructor for the follower.

Definition at line 60 of file follower.cpp.

Definition at line 68 of file follower.cpp.


Member Function Documentation

bool roch_follower::RochFollower::changeModeSrvCb ( roch_msgs::SetFollowState::Request &  request,
roch_msgs::SetFollowState::Response &  response 
) [inline, private]

Definition at line 230 of file follower.cpp.

void roch_follower::RochFollower::imagecb ( const sensor_msgs::ImageConstPtr &  depth_msg) [inline, private]

Callback for point clouds. Callback for depth images. It finds the centroid of the points in a box in the center of the image. Publishes cmd_vel messages with the goal from the image.

Parameters:
cloudThe point cloud message.

Definition at line 142 of file follower.cpp.

virtual void roch_follower::RochFollower::onInit ( ) [inline, private, virtual]

OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.

Implements nodelet::Nodelet.

Definition at line 95 of file follower.cpp.

Definition at line 276 of file follower.cpp.

void roch_follower::RochFollower::publishMarker ( double  x,
double  y,
double  z 
) [inline, private]

Definition at line 249 of file follower.cpp.

void roch_follower::RochFollower::reconfigure ( roch_follower::FollowerConfig &  config,
uint32_t  level 
) [inline, private]

Definition at line 123 of file follower.cpp.


Member Data Documentation

Definition at line 314 of file follower.cpp.

Definition at line 312 of file follower.cpp.

dynamic_reconfigure::Server<roch_follower::FollowerConfig>* roch_follower::RochFollower::config_srv_ [private]

Definition at line 88 of file follower.cpp.

Enable/disable following; just prevents motor commands

Definition at line 82 of file follower.cpp.

The distance away from the robot to hold the centroid

Definition at line 79 of file follower.cpp.

Definition at line 313 of file follower.cpp.

The maximum x position of the points in the box.

Definition at line 77 of file follower.cpp.

The maximum y position of the points in the box.

Definition at line 75 of file follower.cpp.

The maximum z position of the points in the box.

Definition at line 78 of file follower.cpp.

The minimum x position of the points in the box.

Definition at line 76 of file follower.cpp.

The minimum y position of the points in the box.

Definition at line 74 of file follower.cpp.

Definition at line 311 of file follower.cpp.

Definition at line 85 of file follower.cpp.

The scaling factor for rotational robot speed

Definition at line 81 of file follower.cpp.

The scaling factor for translational robot speed

Definition at line 80 of file follower.cpp.


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


roch_follower
Author(s): Tony Pratkanis
autogenerated on Thu Jun 6 2019 21:04:28