Public Member Functions
	AGVSControllerClass (ros::NodeHandle h)
	Public constructor. More...

void	check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	commandCallback (const ackermann_msgs::AckermannDriveStamped::ConstPtr &msg)

void	imuCallback (const sensor_msgs::Imu &imu_msg)

void	jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)

void	PublishOdometry ()

double	saturation (double u, double min, double max)

void	SetElevatorPosition (double val)

bool	spin ()

bool	srvCallback_LowerElevator (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)

bool	srvCallback_RaiseElevator (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)

bool	srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)

int	starting ()
	Controller startup in realtime. More...

void	stopping ()
	Controller stopping. More...

void	UpdateControl ()

void	UpdateOdometry ()
	Updates the values of the odometry Ackerman's odometry calculation (using motor speed and position of the motor direction) More...

Static Public Member Functions
static void	radnorm (double *radians)
	Normalize in rad. More...

static double	radnorm2 (double value)

Public Attributes
double	a_ref_

double	agvs_dist_to_center_

double	agvs_wheel_diameter_

double	ang_vel_x_

double	ang_vel_y_

double	ang_vel_z_

double	angularSpeedRads_

ackermann_msgs::AckermannDriveStamped	base_vel_msg_

int	bwd_pos_

std::string	bwd_pos_topic_

int	bwd_vel_

std::string	bwd_vel_topic_

ros::Subscriber	cmd_sub_

diagnostic_updater::FunctionDiagnosticTask	command_freq_

double	desired_freq_

diagnostic_updater::Updater	diagnostic_

std::string	elevator_pos_topic_

diagnostic_updater::FrequencyStatus	freq_diag_

int	fwd_pos_

std::string	fwd_pos_topic_

int	fwd_vel_

std::string	fwd_vel_topic_

ros::Subscriber	imu_sub_

std::string	imu_topic_

std::string	joint_back_motor_wheel

std::string	joint_back_wheel

std::string	joint_front_motor_wheel

std::string	joint_front_wheel

sensor_msgs::JointState	joint_state_

ros::Subscriber	joint_state_sub_

ros::Time	last_command_time_

double	lin_acc_x_

double	lin_acc_y_

double	lin_acc_z_

double	linearSpeedXMps_

double	linearSpeedYMps_

ros::NodeHandle	node_handle_

tf::TransformBroadcaster	odom_broadcaster

ros::Publisher	odom_pub_

double	orientation_diff_w_

double	orientation_diff_x_

double	orientation_diff_y_

double	orientation_diff_z_

ros::NodeHandle	private_node_handle_

bool	publish_odom_tf_

bool	read_state_

ros::Publisher	ref_pos_bwd_

ros::Publisher	ref_pos_elevator_

ros::Publisher	ref_pos_fwd_

ros::Publisher	ref_vel_bwd_

ros::Publisher	ref_vel_fwd_

std::string	robot_model_

double	robot_pose_pa_

double	robot_pose_px_

double	robot_pose_py_

double	robot_pose_vx_

double	robot_pose_vy_

ros::ServiceServer	srv_GetMode_

ros::ServiceServer	srv_LowerElevator_

ros::ServiceServer	srv_RaiseElevator_

ros::ServiceServer	srv_SetMode_

ros::ServiceServer	srv_SetOdometry_

diagnostic_updater::HeaderlessTopicDiagnostic *	subs_command_freq

double	v_mps_

double	v_ref_

Detailed Description

Definition at line 68 of file agvs_robot_control.cpp.

Constructor & Destructor Documentation

AGVSControllerClass::AGVSControllerClass ( ros::NodeHandle h )

inline

Public constructor.

Definition at line 190 of file agvs_robot_control.cpp.

Member Function Documentation

void AGVSControllerClass::check_command_subscriber ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inline

Definition at line 501 of file agvs_robot_control.cpp.

void AGVSControllerClass::commandCallback ( const ackermann_msgs::AckermannDriveStamped::ConstPtr & msg )

inline

Definition at line 554 of file agvs_robot_control.cpp.

void AGVSControllerClass::imuCallback ( const sensor_msgs::Imu & imu_msg )

inline

Definition at line 567 of file agvs_robot_control.cpp.

void AGVSControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr & msg )

inline

Definition at line 547 of file agvs_robot_control.cpp.

void AGVSControllerClass::PublishOdometry ( )

inline

Definition at line 381 of file agvs_robot_control.cpp.

static void AGVSControllerClass::radnorm ( double * radians )

inlinestatic

Normalize in rad.

Definition at line 593 of file agvs_robot_control.cpp.

static double AGVSControllerClass::radnorm2 ( double value )

inlinestatic

Definition at line 603 of file agvs_robot_control.cpp.

double AGVSControllerClass::saturation	(	double	u,
		double	min,
		double	max
	)

inline

Definition at line 583 of file agvs_robot_control.cpp.

void AGVSControllerClass::SetElevatorPosition ( double val )

inline

Definition at line 484 of file agvs_robot_control.cpp.

bool AGVSControllerClass::spin ( )

inline

Definition at line 610 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_LowerElevator	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

inline

Definition at line 538 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_RaiseElevator	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

inline

Definition at line 529 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_SetOdometry	(	robotnik_msgs::set_odometry::Request &	request,
		robotnik_msgs::set_odometry::Response &	response
	)

inline

Definition at line 517 of file agvs_robot_control.cpp.

int AGVSControllerClass::starting ( )

inline

Controller startup in realtime.

Definition at line 305 of file agvs_robot_control.cpp.

void AGVSControllerClass::stopping ( )

inline

Controller stopping.

Definition at line 494 of file agvs_robot_control.cpp.

void AGVSControllerClass::UpdateControl ( )

inline

Definition at line 447 of file agvs_robot_control.cpp.

void AGVSControllerClass::UpdateOdometry ( )

inline

Updates the values of the odometry Ackerman's odometry calculation (using motor speed and position of the motor direction)

Definition at line 330 of file agvs_robot_control.cpp.

Member Data Documentation

double AGVSControllerClass::a_ref_

Definition at line 150 of file agvs_robot_control.cpp.

double AGVSControllerClass::agvs_dist_to_center_

Definition at line 159 of file agvs_robot_control.cpp.

double AGVSControllerClass::agvs_wheel_diameter_

Definition at line 158 of file agvs_robot_control.cpp.

double AGVSControllerClass::ang_vel_x_

Definition at line 162 of file agvs_robot_control.cpp.

double AGVSControllerClass::ang_vel_y_

Definition at line 163 of file agvs_robot_control.cpp.

double AGVSControllerClass::ang_vel_z_

Definition at line 164 of file agvs_robot_control.cpp.

double AGVSControllerClass::angularSpeedRads_

Definition at line 132 of file agvs_robot_control.cpp.

ackermann_msgs::AckermannDriveStamped AGVSControllerClass::base_vel_msg_

Definition at line 146 of file agvs_robot_control.cpp.

int AGVSControllerClass::bwd_pos_

Definition at line 127 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::bwd_pos_topic_

Definition at line 116 of file agvs_robot_control.cpp.

int AGVSControllerClass::bwd_vel_

Definition at line 126 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::bwd_vel_topic_

Definition at line 108 of file agvs_robot_control.cpp.

ros::Subscriber AGVSControllerClass::cmd_sub_

Definition at line 97 of file agvs_robot_control.cpp.

diagnostic_updater::FunctionDiagnosticTask AGVSControllerClass::command_freq_

Definition at line 81 of file agvs_robot_control.cpp.

double AGVSControllerClass::desired_freq_

Definition at line 74 of file agvs_robot_control.cpp.

diagnostic_updater::Updater AGVSControllerClass::diagnostic_

Definition at line 77 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::elevator_pos_topic_

Definition at line 117 of file agvs_robot_control.cpp.

diagnostic_updater::FrequencyStatus AGVSControllerClass::freq_diag_

Definition at line 78 of file agvs_robot_control.cpp.

int AGVSControllerClass::fwd_pos_

Definition at line 127 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::fwd_pos_topic_

Definition at line 115 of file agvs_robot_control.cpp.

int AGVSControllerClass::fwd_vel_

Definition at line 126 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::fwd_vel_topic_

Definition at line 107 of file agvs_robot_control.cpp.

ros::Subscriber AGVSControllerClass::imu_sub_

Definition at line 178 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::imu_topic_

Definition at line 119 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::joint_back_motor_wheel

Definition at line 123 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::joint_back_wheel

Definition at line 112 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::joint_front_motor_wheel

Definition at line 122 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::joint_front_wheel

Definition at line 111 of file agvs_robot_control.cpp.

sensor_msgs::JointState AGVSControllerClass::joint_state_

Definition at line 142 of file agvs_robot_control.cpp.

ros::Subscriber AGVSControllerClass::joint_state_sub_

Definition at line 94 of file agvs_robot_control.cpp.

ros::Time AGVSControllerClass::last_command_time_

Definition at line 80 of file agvs_robot_control.cpp.

double AGVSControllerClass::lin_acc_x_

Definition at line 166 of file agvs_robot_control.cpp.

double AGVSControllerClass::lin_acc_y_

Definition at line 167 of file agvs_robot_control.cpp.

double AGVSControllerClass::lin_acc_z_

Definition at line 168 of file agvs_robot_control.cpp.

double AGVSControllerClass::linearSpeedXMps_

Definition at line 130 of file agvs_robot_control.cpp.

double AGVSControllerClass::linearSpeedYMps_

Definition at line 131 of file agvs_robot_control.cpp.

ros::NodeHandle AGVSControllerClass::node_handle_

Definition at line 72 of file agvs_robot_control.cpp.

tf::TransformBroadcaster AGVSControllerClass::odom_broadcaster

Definition at line 184 of file agvs_robot_control.cpp.

ros::Publisher AGVSControllerClass::odom_pub_

Definition at line 181 of file agvs_robot_control.cpp.

double AGVSControllerClass::orientation_diff_w_

Definition at line 173 of file agvs_robot_control.cpp.

double AGVSControllerClass::orientation_diff_x_

Definition at line 170 of file agvs_robot_control.cpp.

double AGVSControllerClass::orientation_diff_y_

Definition at line 171 of file agvs_robot_control.cpp.

double AGVSControllerClass::orientation_diff_z_

Definition at line 172 of file agvs_robot_control.cpp.

ros::NodeHandle AGVSControllerClass::private_node_handle_

Definition at line 73 of file agvs_robot_control.cpp.

bool AGVSControllerClass::publish_odom_tf_

Definition at line 176 of file agvs_robot_control.cpp.

bool AGVSControllerClass::read_state_

Definition at line 155 of file agvs_robot_control.cpp.

ros::Publisher AGVSControllerClass::ref_pos_bwd_

Definition at line 90 of file agvs_robot_control.cpp.

ros::Publisher AGVSControllerClass::ref_pos_elevator_

Definition at line 91 of file agvs_robot_control.cpp.

ros::Publisher AGVSControllerClass::ref_pos_fwd_

Definition at line 89 of file agvs_robot_control.cpp.

ros::Publisher AGVSControllerClass::ref_vel_bwd_

Definition at line 88 of file agvs_robot_control.cpp.

ros::Publisher AGVSControllerClass::ref_vel_fwd_

Definition at line 87 of file agvs_robot_control.cpp.

std::string AGVSControllerClass::robot_model_

Definition at line 84 of file agvs_robot_control.cpp.

double AGVSControllerClass::robot_pose_pa_

Definition at line 137 of file agvs_robot_control.cpp.

double AGVSControllerClass::robot_pose_px_

Definition at line 135 of file agvs_robot_control.cpp.

double AGVSControllerClass::robot_pose_py_

Definition at line 136 of file agvs_robot_control.cpp.

double AGVSControllerClass::robot_pose_vx_

Definition at line 138 of file agvs_robot_control.cpp.

double AGVSControllerClass::robot_pose_vy_

Definition at line 139 of file agvs_robot_control.cpp.

ros::ServiceServer AGVSControllerClass::srv_GetMode_

Definition at line 102 of file agvs_robot_control.cpp.

ros::ServiceServer AGVSControllerClass::srv_LowerElevator_

Definition at line 104 of file agvs_robot_control.cpp.

ros::ServiceServer AGVSControllerClass::srv_RaiseElevator_

Definition at line 103 of file agvs_robot_control.cpp.

ros::ServiceServer AGVSControllerClass::srv_SetMode_

Definition at line 101 of file agvs_robot_control.cpp.

ros::ServiceServer AGVSControllerClass::srv_SetOdometry_

Definition at line 100 of file agvs_robot_control.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* AGVSControllerClass::subs_command_freq

Definition at line 79 of file agvs_robot_control.cpp.

double AGVSControllerClass::v_mps_

Definition at line 152 of file agvs_robot_control.cpp.

double AGVSControllerClass::v_ref_

Definition at line 149 of file agvs_robot_control.cpp.

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

agvs_robot_control.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation