RosAriaNode Class Reference

Node that interfaces between ROS and mobile robot base features via ARIA library. More...

List of all members.

Public Member Functions
void	cmdvel_cb (const geometry_msgs::TwistConstPtr &)
void	cmdvel_watchdog (const ros::TimerEvent &event)
void	dynamic_reconfigureCB (rosaria::RosAriaConfig &config, uint32_t level)
void	publish ()
void	readParameters ()
	RosAriaNode (ros::NodeHandle n)
int	Setup ()
void	sonarConnectCb ()
	Called when another node subscribes or unsubscribes from sonar topic.
void	spin ()
virtual	~RosAriaNode ()
Protected Member Functions
bool	disable_motors_cb (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	enable_motors_cb (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
Protected Attributes
std::string	aria_log_filename
rosaria::BumperState	bumpers
ros::Publisher	bumpers_pub
ros::Subscriber	cmdvel_sub
ros::Duration	cmdvel_timeout
ros::Timer	cmdvel_watchdog_timer
ArRobotConnector *	conn
bool	debug_aria
ros::ServiceServer	disable_srv
int	DriftFactor
dynamic_reconfigure::Server < rosaria::RosAriaConfig > *	dynamic_reconfigure_server
ros::ServiceServer	enable_srv
std::string	frame_id_base_link
std::string	frame_id_bumper
std::string	frame_id_odom
std::string	frame_id_sonar
ArLaserConnector *	laserConnector
std_msgs::Bool	motors_state
ros::Publisher	motors_state_pub
ArFunctorC< RosAriaNode >	myPublishCB
ros::NodeHandle	n
tf::TransformBroadcaster	odom_broadcaster
geometry_msgs::TransformStamped	odom_trans
ArPose	pos
ros::Publisher	pose_pub
nav_msgs::Odometry	position
bool	publish_aria_lasers
bool	publish_sonar
bool	publish_sonar_pointcloud2
bool	published_motors_state
std_msgs::Int8	recharge_state
ros::Publisher	recharge_state_pub
int	RevCount
ArRobot *	robot
int	serial_baud
std::string	serial_port
bool	sonar_enabled
ros::Publisher	sonar_pointcloud2_pub
ros::Publisher	sonar_pub
ros::Publisher	state_of_charge_pub
int	TicksMM
ros::Time	veltime
ros::Publisher	voltage_pub

---

Detailed Description

Node that interfaces between ROS and mobile robot base features via ARIA library.

RosAriaNode will use ARIA to connect to a robot controller (configure via ~port parameter), either direct serial connection or over the network. It runs ARIA's robot communications cycle in a background thread, and as part of that cycle (a sensor interpretation task which calls RosAriaNode::publish()), it publishes various topics with newly received robot data. It also sends velocity commands to the robot when received in the cmd_vel topic, and handles dynamic_reconfigure and Service requests.

For more information about ARIA see http://robots.mobilerobots.com/wiki/Aria.

RosAria uses the roscpp client library, see http://www.ros.org/wiki/roscpp for information, tutorials and documentation.

Definition at line 50 of file RosAria.cpp.

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Constructor & Destructor Documentation

RosAriaNode::RosAriaNode

(

ros::NodeHandle

n

)

Definition at line 279 of file RosAria.cpp.

RosAriaNode::~RosAriaNode

(

)

[virtual]

Definition at line 342 of file RosAria.cpp.

---

Member Function Documentation

void RosAriaNode::cmdvel_cb

(

const geometry_msgs::TwistConstPtr &

msg

)

Definition at line 718 of file RosAria.cpp.

void RosAriaNode::cmdvel_watchdog

(

const ros::TimerEvent &

event

)

Definition at line 733 of file RosAria.cpp.

bool RosAriaNode::disable_motors_cb	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		[protected]

Definition at line 707 of file RosAria.cpp.

void RosAriaNode::dynamic_reconfigureCB	(	rosaria::RosAriaConfig &	config,
		uint32_t	level
	)

Definition at line 183 of file RosAria.cpp.

bool RosAriaNode::enable_motors_cb	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		[protected]

Definition at line 695 of file RosAria.cpp.

void RosAriaNode::publish

(

)

Definition at line 532 of file RosAria.cpp.

void RosAriaNode::readParameters

(

)

Definition at line 138 of file RosAria.cpp.

int RosAriaNode::Setup

(

)

Definition at line 353 of file RosAria.cpp.

void RosAriaNode::sonarConnectCb

(

)

Called when another node subscribes or unsubscribes from sonar topic.

Definition at line 261 of file RosAria.cpp.

void RosAriaNode::spin

(

)

Definition at line 527 of file RosAria.cpp.

---

Member Data Documentation

std::string RosAriaNode::aria_log_filename [protected]

Definition at line 126 of file RosAria.cpp.

rosaria::BumperState RosAriaNode::bumpers [protected]

Definition at line 103 of file RosAria.cpp.

ros::Publisher RosAriaNode::bumpers_pub [protected]

Definition at line 71 of file RosAria.cpp.

ros::Subscriber RosAriaNode::cmdvel_sub [protected]

Definition at line 85 of file RosAria.cpp.

ros::Duration RosAriaNode::cmdvel_timeout [protected]

Definition at line 94 of file RosAria.cpp.

ros::Timer RosAriaNode::cmdvel_watchdog_timer [protected]

Definition at line 93 of file RosAria.cpp.

ArRobotConnector* RosAriaNode::conn [protected]

Definition at line 99 of file RosAria.cpp.

bool RosAriaNode::debug_aria [protected]

Definition at line 125 of file RosAria.cpp.

ros::ServiceServer RosAriaNode::disable_srv [protected]

Definition at line 88 of file RosAria.cpp.

int RosAriaNode::DriftFactor [protected]

Definition at line 129 of file RosAria.cpp.

dynamic_reconfigure::Server<rosaria::RosAriaConfig>* RosAriaNode::dynamic_reconfigure_server [protected]

Definition at line 132 of file RosAria.cpp.

ros::ServiceServer RosAriaNode::enable_srv [protected]

Definition at line 87 of file RosAria.cpp.

std::string RosAriaNode::frame_id_base_link [protected]

Definition at line 113 of file RosAria.cpp.

std::string RosAriaNode::frame_id_bumper [protected]

Definition at line 114 of file RosAria.cpp.

std::string RosAriaNode::frame_id_odom [protected]

Definition at line 112 of file RosAria.cpp.

std::string RosAriaNode::frame_id_sonar [protected]

Definition at line 115 of file RosAria.cpp.

ArLaserConnector* RosAriaNode::laserConnector [protected]

Definition at line 100 of file RosAria.cpp.

std_msgs::Bool RosAriaNode::motors_state [protected]

Definition at line 82 of file RosAria.cpp.

ros::Publisher RosAriaNode::motors_state_pub [protected]

Definition at line 81 of file RosAria.cpp.

ArFunctorC<RosAriaNode> RosAriaNode::myPublishCB [protected]

Definition at line 105 of file RosAria.cpp.

ros::NodeHandle RosAriaNode::n [protected]

Definition at line 69 of file RosAria.cpp.

tf::TransformBroadcaster RosAriaNode::odom_broadcaster [protected]

Definition at line 109 of file RosAria.cpp.

geometry_msgs::TransformStamped RosAriaNode::odom_trans [protected]

Definition at line 110 of file RosAria.cpp.

ArPose RosAriaNode::pos [protected]

Definition at line 104 of file RosAria.cpp.

ros::Publisher RosAriaNode::pose_pub [protected]

Definition at line 70 of file RosAria.cpp.

nav_msgs::Odometry RosAriaNode::position [protected]

Definition at line 102 of file RosAria.cpp.

bool RosAriaNode::publish_aria_lasers [protected]

Definition at line 135 of file RosAria.cpp.

bool RosAriaNode::publish_sonar [protected]

Definition at line 121 of file RosAria.cpp.

bool RosAriaNode::publish_sonar_pointcloud2 [protected]

Definition at line 122 of file RosAria.cpp.

bool RosAriaNode::published_motors_state [protected]

Definition at line 83 of file RosAria.cpp.

std_msgs::Int8 RosAriaNode::recharge_state [protected]

Definition at line 77 of file RosAria.cpp.

ros::Publisher RosAriaNode::recharge_state_pub [protected]

Definition at line 76 of file RosAria.cpp.

int RosAriaNode::RevCount [protected]

Definition at line 129 of file RosAria.cpp.

ArRobot* RosAriaNode::robot [protected]

Definition at line 101 of file RosAria.cpp.

int RosAriaNode::serial_baud [protected]

Definition at line 97 of file RosAria.cpp.

std::string RosAriaNode::serial_port [protected]

Definition at line 96 of file RosAria.cpp.

bool RosAriaNode::sonar_enabled [protected]

Definition at line 118 of file RosAria.cpp.

ros::Publisher RosAriaNode::sonar_pointcloud2_pub [protected]

Definition at line 73 of file RosAria.cpp.

ros::Publisher RosAriaNode::sonar_pub [protected]

Definition at line 72 of file RosAria.cpp.

ros::Publisher RosAriaNode::state_of_charge_pub [protected]

Definition at line 79 of file RosAria.cpp.

int RosAriaNode::TicksMM [protected]

Definition at line 129 of file RosAria.cpp.

ros::Time RosAriaNode::veltime [protected]

Definition at line 92 of file RosAria.cpp.

ros::Publisher RosAriaNode::voltage_pub [protected]

Definition at line 74 of file RosAria.cpp.

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

• RosAria.cpp