urg_node::UrgNode Class Reference

#include <urg_node_driver.h>

List of all members.

Public Member Functions
void	run ()
	Start's the nodes threads to run the lidar.
bool	updateStatus ()
	Trigger an update of the lidar's status publish the latest known information about the lidar on latched topic.
	UrgNode ()
	UrgNode (ros::NodeHandle nh, ros::NodeHandle private_nh)
	~UrgNode ()
Private Member Functions
void	calibrate_time_offset ()
bool	connect ()
void	initSetup ()
void	populateDiagnosticsStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
bool	reconfigure_callback (urg_node::URGConfig &config, int level)
void	scanThread ()
bool	statusCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
void	update_reconfigure_limits ()
void	updateDiagnostics ()
Private Attributes
bool	calibrate_time_
bool	close_diagnostics_
bool	close_scan_
bool	detailed_status_
std::string	device_id_
std::string	device_status_
boost::shared_ptr < diagnostic_updater::Updater >	diagnostic_updater_
boost::thread	diagnostics_thread_
double	diagnostics_tolerance_
double	diagnostics_window_time_
boost::shared_ptr < diagnostic_updater::HeaderlessTopicDiagnostic >	echoes_freq_
laser_proc::LaserPublisher	echoes_pub_
uint16_t	error_code_
int	error_count_
int	error_limit_
std::string	firmware_date_
std::string	firmware_version_
double	freq_min_
std::string	ip_address_
int	ip_port_
boost::shared_ptr < diagnostic_updater::HeaderlessTopicDiagnostic >	laser_freq_
ros::Publisher	laser_pub_
boost::mutex	lidar_mutex_
bool	lockout_status_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
std::string	product_name_
std::string	protocol_version_
bool	publish_intensity_
bool	publish_multiecho_
boost::thread	scan_thread_
int	serial_baud_
std::string	serial_port_
volatile bool	service_yield_
boost::shared_ptr < dynamic_reconfigure::Server < urg_node::URGConfig > >	srv_
	Dynamic reconfigure server.
ros::Publisher	status_pub_
ros::ServiceServer	status_service_
bool	synchronize_time_
boost::shared_ptr < urg_node::URGCWrapper >	urg_
std::string	vendor_name_

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Detailed Description

Definition at line 51 of file urg_node_driver.h.

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Constructor & Destructor Documentation

urg_node::UrgNode::UrgNode

(

)

Definition at line 54 of file urg_node_driver.cpp.

urg_node::UrgNode::UrgNode	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh
	)

Definition at line 47 of file urg_node_driver.cpp.

urg_node::UrgNode::~UrgNode

(

)

Definition at line 102 of file urg_node_driver.cpp.

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Member Function Documentation

void urg_node::UrgNode::calibrate_time_offset

(

)

[private]

Definition at line 257 of file urg_node_driver.cpp.

bool urg_node::UrgNode::connect

(

)

[private]

Definition at line 359 of file urg_node_driver.cpp.

void urg_node::UrgNode::initSetup

(

)

[private]

Definition at line 61 of file urg_node_driver.cpp.

void urg_node::UrgNode::populateDiagnosticsStatus

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[private]

Definition at line 293 of file urg_node_driver.cpp.

bool urg_node::UrgNode::reconfigure_callback	(	urg_node::URGConfig &	config,
		int	level
	)		[private]

Definition at line 189 of file urg_node_driver.cpp.

void urg_node::UrgNode::run

(

)

Start's the nodes threads to run the lidar.

Definition at line 567 of file urg_node_driver.cpp.

void urg_node::UrgNode::scanThread

(

)

[private]

Definition at line 432 of file urg_node_driver.cpp.

bool urg_node::UrgNode::statusCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		[private]

Definition at line 169 of file urg_node_driver.cpp.

void urg_node::UrgNode::update_reconfigure_limits

(

)

[private]

Definition at line 236 of file urg_node_driver.cpp.

void urg_node::UrgNode::updateDiagnostics

(

)

[private]

Definition at line 283 of file urg_node_driver.cpp.

bool urg_node::UrgNode::updateStatus

(

)

Trigger an update of the lidar's status publish the latest known information about the lidar on latched topic.

Returns:

True on update successful, false otherwise.

Definition at line 117 of file urg_node_driver.cpp.

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Member Data Documentation

bool urg_node::UrgNode::calibrate_time_ [private]

Definition at line 118 of file urg_node_driver.h.

bool urg_node::UrgNode::close_diagnostics_ [private]

Definition at line 111 of file urg_node_driver.h.

bool urg_node::UrgNode::close_scan_ [private]

Definition at line 112 of file urg_node_driver.h.

bool urg_node::UrgNode::detailed_status_ [private]

Definition at line 125 of file urg_node_driver.h.

std::string urg_node::UrgNode::device_id_ [private]

Definition at line 105 of file urg_node_driver.h.

std::string urg_node::UrgNode::device_status_ [private]

Definition at line 99 of file urg_node_driver.h.

boost::shared_ptr<diagnostic_updater::Updater> urg_node::UrgNode::diagnostic_updater_ [private]

Definition at line 90 of file urg_node_driver.h.

boost::thread urg_node::UrgNode::diagnostics_thread_ [private]

Definition at line 85 of file urg_node_driver.h.

double urg_node::UrgNode::diagnostics_tolerance_ [private]

Definition at line 123 of file urg_node_driver.h.

double urg_node::UrgNode::diagnostics_window_time_ [private]

Definition at line 124 of file urg_node_driver.h.

boost::shared_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> urg_node::UrgNode::echoes_freq_ [private]

Definition at line 92 of file urg_node_driver.h.

laser_proc::LaserPublisher urg_node::UrgNode::echoes_pub_ [private]

Definition at line 130 of file urg_node_driver.h.

uint16_t urg_node::UrgNode::error_code_ [private]

Definition at line 106 of file urg_node_driver.h.

int urg_node::UrgNode::error_count_ [private]

Definition at line 109 of file urg_node_driver.h.

int urg_node::UrgNode::error_limit_ [private]

Definition at line 122 of file urg_node_driver.h.

std::string urg_node::UrgNode::firmware_date_ [private]

Definition at line 103 of file urg_node_driver.h.

std::string urg_node::UrgNode::firmware_version_ [private]

Definition at line 102 of file urg_node_driver.h.

double urg_node::UrgNode::freq_min_ [private]

Definition at line 110 of file urg_node_driver.h.

std::string urg_node::UrgNode::ip_address_ [private]

Definition at line 115 of file urg_node_driver.h.

int urg_node::UrgNode::ip_port_ [private]

Definition at line 114 of file urg_node_driver.h.

boost::shared_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> urg_node::UrgNode::laser_freq_ [private]

Definition at line 91 of file urg_node_driver.h.

ros::Publisher urg_node::UrgNode::laser_pub_ [private]

Definition at line 129 of file urg_node_driver.h.

boost::mutex urg_node::UrgNode::lidar_mutex_ [private]

Definition at line 94 of file urg_node_driver.h.

bool urg_node::UrgNode::lockout_status_ [private]

Definition at line 107 of file urg_node_driver.h.

ros::NodeHandle urg_node::UrgNode::nh_ [private]

Definition at line 82 of file urg_node_driver.h.

ros::NodeHandle urg_node::UrgNode::pnh_ [private]

Definition at line 83 of file urg_node_driver.h.

std::string urg_node::UrgNode::product_name_ [private]

Definition at line 101 of file urg_node_driver.h.

std::string urg_node::UrgNode::protocol_version_ [private]

Definition at line 104 of file urg_node_driver.h.

bool urg_node::UrgNode::publish_intensity_ [private]

Definition at line 120 of file urg_node_driver.h.

bool urg_node::UrgNode::publish_multiecho_ [private]

Definition at line 121 of file urg_node_driver.h.

boost::thread urg_node::UrgNode::scan_thread_ [private]

Definition at line 86 of file urg_node_driver.h.

int urg_node::UrgNode::serial_baud_ [private]

Definition at line 117 of file urg_node_driver.h.

std::string urg_node::UrgNode::serial_port_ [private]

Definition at line 116 of file urg_node_driver.h.

volatile bool urg_node::UrgNode::service_yield_ [private]

Definition at line 127 of file urg_node_driver.h.

boost::shared_ptr<dynamic_reconfigure::Server<urg_node::URGConfig> > urg_node::UrgNode::srv_ [private]

Dynamic reconfigure server.

Definition at line 89 of file urg_node_driver.h.

ros::Publisher urg_node::UrgNode::status_pub_ [private]

Definition at line 131 of file urg_node_driver.h.

ros::ServiceServer urg_node::UrgNode::status_service_ [private]

Definition at line 133 of file urg_node_driver.h.

bool urg_node::UrgNode::synchronize_time_ [private]

Definition at line 119 of file urg_node_driver.h.

boost::shared_ptr<urg_node::URGCWrapper> urg_node::UrgNode::urg_ [private]

Definition at line 88 of file urg_node_driver.h.

std::string urg_node::UrgNode::vendor_name_ [private]

Definition at line 100 of file urg_node_driver.h.

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

• urg_node_driver.h
• urg_node_driver.cpp