The SickSafetyscannersRos class. More...

#include <SickSafetyscannersRos.h>

Public Member Functions
	SickSafetyscannersRos ()
	Constructor of the SickSafetyscannersRos.
virtual	~SickSafetyscannersRos ()
	~SickSafetyscannersRos Destructor if the SickSafetyscanners ROS
Private Member Functions
sick_safetyscanners::ApplicationDataMsg	createApplicationDataMessage (const sick::datastructure::Data &data)
sick_safetyscanners::ApplicationInputsMsg	createApplicationInputsMessage (const sick::datastructure::Data &data)
sick_safetyscanners::ApplicationOutputsMsg	createApplicationOutputsMessage (const sick::datastructure::Data &data)
sick_safetyscanners::DataHeaderMsg	createDataHeaderMessage (const sick::datastructure::Data &data)
sick_safetyscanners::DerivedValuesMsg	createDerivedValuesMessage (const sick::datastructure::Data &data)
sick_safetyscanners::ExtendedLaserScanMsg	createExtendedLaserScanMessage (const sick::datastructure::Data &data)
sick_safetyscanners::GeneralSystemStateMsg	createGeneralSystemStateMessage (const sick::datastructure::Data &data)
sick_safetyscanners::IntrusionDataMsg	createIntrusionDataMessage (const sick::datastructure::Data &data)
std::vector < sick_safetyscanners::IntrusionDatumMsg >	createIntrusionDatumMessageVector (const sick::datastructure::Data &data)
sensor_msgs::LaserScan	createLaserScanMessage (const sick::datastructure::Data &data)
sick_safetyscanners::MeasurementDataMsg	createMeasurementDataMessage (const sick::datastructure::Data &data)
sick_safetyscanners::OutputPathsMsg	createOutputPathsMessage (const sick::datastructure::Data &data)
sick_safetyscanners::RawMicroScanDataMsg	createRawDataMessage (const sick::datastructure::Data &data)
std::vector < sick_safetyscanners::ScanPointMsg >	createScanPointMessageVector (const sick::datastructure::Data &data)
bool	getFieldData (sick_safetyscanners::FieldData::Request &req, sick_safetyscanners::FieldData::Response &res)
std::vector< bool >	getMedianReflectors (const std::vector< sick::datastructure::ScanPoint > scan_points)
bool	isInitialised ()
bool	readParameters ()
	Reads and verifies the ROS parameters.
void	readPersistentConfig ()
void	readTypeCodeSettings ()
void	receivedUDPPacket (const datastructure::Data &data)
	Function which is called when a new complete UDP Packet is received.
void	reconfigure_callback (const sick_safetyscanners::SickSafetyscannersConfigurationConfig &config, const uint32_t &level)
	Function which is triggered when a dynamic reconfiguration is performed.
Private Attributes
float	m_angle_offset
sick::datastructure::CommSettings	m_communication_settings
std::shared_ptr < sick::SickSafetyscanners >	m_device
dynamic_reconfigure::Server < sick_safetyscanners::SickSafetyscannersConfigurationConfig >	m_dynamic_reconfiguration_server
ros::Publisher	m_extended_laser_scan_publisher
ros::ServiceServer	m_field_service_server
std::string	m_frame_id
bool	m_initialised
ros::Publisher	m_laser_scan_publisher
	ROS topic publisher.
ros::NodeHandle	m_nh
	ROS node handle.
ros::Publisher	m_output_path_publisher
ros::NodeHandle	m_private_nh
	ROS private node handle.
double	m_range_max
double	m_range_min
ros::Publisher	m_raw_data_publisher
double	m_time_offset
bool	m_use_pers_conf
bool	m_use_sick_angles

Detailed Description

The SickSafetyscannersRos class.

Main class for the node to handle the ROS interfacing.

Definition at line 101 of file SickSafetyscannersRos.h.

Constructor & Destructor Documentation

sick::SickSafetyscannersRos::SickSafetyscannersRos ( )

Constructor of the SickSafetyscannersRos.

Constructor of the SickSafetyscannersRos, loads all parameters from the parameter server, initialises the dynamic reconfiguration server. Furthermore initialises the ROS Publishers for the different laserscan outputs.

Definition at line 41 of file SickSafetyscannersRos.cpp.

sick::SickSafetyscannersRos::~SickSafetyscannersRos ( ) [virtual]

~SickSafetyscannersRos Destructor if the SickSafetyscanners ROS

Definition at line 141 of file SickSafetyscannersRos.cpp.

Member Function Documentation

sick_safetyscanners::ApplicationDataMsg sick::SickSafetyscannersRos::createApplicationDataMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 565 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::ApplicationInputsMsg sick::SickSafetyscannersRos::createApplicationInputsMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 578 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::ApplicationOutputsMsg sick::SickSafetyscannersRos::createApplicationOutputsMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 611 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::DataHeaderMsg sick::SickSafetyscannersRos::createDataHeaderMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 390 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::DerivedValuesMsg sick::SickSafetyscannersRos::createDerivedValuesMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 418 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::ExtendedLaserScanMsg sick::SickSafetyscannersRos::createExtendedLaserScanMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 253 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::GeneralSystemStateMsg sick::SickSafetyscannersRos::createGeneralSystemStateMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 437 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::IntrusionDataMsg sick::SickSafetyscannersRos::createIntrusionDataMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 529 of file SickSafetyscannersRos.cpp.

std::vector< sick_safetyscanners::IntrusionDatumMsg > sick::SickSafetyscannersRos::createIntrusionDatumMessageVector ( const sick::datastructure::Data & data ) [private]

Definition at line 541 of file SickSafetyscannersRos.cpp.

sensor_msgs::LaserScan sick::SickSafetyscannersRos::createLaserScanMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 303 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::MeasurementDataMsg sick::SickSafetyscannersRos::createMeasurementDataMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 488 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::OutputPathsMsg sick::SickSafetyscannersRos::createOutputPathsMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 347 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::RawMicroScanDataMsg sick::SickSafetyscannersRos::createRawDataMessage ( const sick::datastructure::Data & data ) [private]

Definition at line 375 of file SickSafetyscannersRos.cpp.

std::vector< sick_safetyscanners::ScanPointMsg > sick::SickSafetyscannersRos::createScanPointMessageVector ( const sick::datastructure::Data & data ) [private]

Definition at line 501 of file SickSafetyscannersRos.cpp.

bool sick::SickSafetyscannersRos::getFieldData	(	sick_safetyscanners::FieldData::Request &	req,
		sick_safetyscanners::FieldData::Response &	res
	)		`[private]`

Definition at line 669 of file SickSafetyscannersRos.cpp.

std::vector< bool > sick::SickSafetyscannersRos::getMedianReflectors ( const std::vector< sick::datastructure::ScanPoint > scan_points ) [private]

Definition at line 277 of file SickSafetyscannersRos.cpp.

bool sick::SickSafetyscannersRos::isInitialised ( ) [private]

Definition at line 135 of file SickSafetyscannersRos.cpp.

bool sick::SickSafetyscannersRos::readParameters ( ) [private]

Reads and verifies the ROS parameters.

Returns:: True if successful.

Definition at line 143 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::readPersistentConfig ( ) [private]

Definition at line 96 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::readTypeCodeSettings ( ) [private]

Definition at line 86 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::receivedUDPPacket ( const datastructure::Data & data ) [private]

Function which is called when a new complete UDP Packet is received.

Parameters:

data,the assortment of all data from the sensor

Definition at line 227 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::reconfigure_callback	(	const sick_safetyscanners::SickSafetyscannersConfigurationConfig &	config,
		const uint32_t &	level
	)		`[private]`

Function which is triggered when a dynamic reconfiguration is performed.

Parameters:

config	The new configuration to set
level	Level of the new configuration

Definition at line 105 of file SickSafetyscannersRos.cpp.

Member Data Documentation

float sick::SickSafetyscannersRos::m_angle_offset [private]

Definition at line 149 of file SickSafetyscannersRos.h.

sick::datastructure::CommSettings sick::SickSafetyscannersRos::m_communication_settings [private]

Definition at line 138 of file SickSafetyscannersRos.h.

std::shared_ptr<sick::SickSafetyscanners> sick::SickSafetyscannersRos::m_device [private]

Definition at line 136 of file SickSafetyscannersRos.h.

dynamic_reconfigure::Server<sick_safetyscanners::SickSafetyscannersConfigurationConfig> sick::SickSafetyscannersRos::m_dynamic_reconfiguration_server [private]

Definition at line 141 of file SickSafetyscannersRos.h.

ros::Publisher sick::SickSafetyscannersRos::m_extended_laser_scan_publisher [private]

Definition at line 128 of file SickSafetyscannersRos.h.

ros::ServiceServer sick::SickSafetyscannersRos::m_field_service_server [private]

Definition at line 132 of file SickSafetyscannersRos.h.

std::string sick::SickSafetyscannersRos::m_frame_id [private]

Definition at line 143 of file SickSafetyscannersRos.h.

bool sick::SickSafetyscannersRos::m_initialised [private]

Definition at line 134 of file SickSafetyscannersRos.h.

ros::Publisher sick::SickSafetyscannersRos::m_laser_scan_publisher [private]

ROS topic publisher.

Definition at line 127 of file SickSafetyscannersRos.h.