base_local_planner::OdometryHelperRos Class Reference

#include <odometry_helper_ros.h>

Public Member Functions
void	getOdom (nav_msgs::Odometry &base_odom)
std::string	getOdomTopic () const
	Return the current odometry topic. More...
void	getRobotVel (tf::Stamped< tf::Pose > &robot_vel)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	Callback for receiving odometry data. More...
	OdometryHelperRos (std::string odom_topic="")
	Constructor. More...
void	setOdomTopic (std::string odom_topic)
	Set the odometry topic. This overrides what was set in the constructor, if anything. More...
	~OdometryHelperRos ()

Private Attributes
nav_msgs::Odometry	base_odom_
std::string	frame_id_
	The frame_id associated this data. More...
boost::mutex	odom_mutex_
ros::Subscriber	odom_sub_
std::string	odom_topic_

Detailed Description

Definition at line 48 of file odometry_helper_ros.h.

Constructor & Destructor Documentation

base_local_planner::OdometryHelperRos::OdometryHelperRos

(

std::string

odom_topic = ""

)

Constructor.

Parameters

odom_topic

The topic on which to subscribe to Odometry messages. If the empty string is given (the default), no subscription is done.

Definition at line 41 of file odometry_helper_ros.cpp.

base_local_planner::OdometryHelperRos::~OdometryHelperRos ( )

inline

Definition at line 56 of file odometry_helper_ros.h.

Member Function Documentation

void base_local_planner::OdometryHelperRos::getOdom

(

nav_msgs::Odometry &

base_odom

)

Definition at line 59 of file odometry_helper_ros.cpp.

std::string base_local_planner::OdometryHelperRos::getOdomTopic ( ) const

inline

Return the current odometry topic.

Definition at line 76 of file odometry_helper_ros.h.

void base_local_planner::OdometryHelperRos::getRobotVel

(

tf::Stamped< tf::Pose > &

robot_vel

)

Definition at line 65 of file odometry_helper_ros.cpp.

void base_local_planner::OdometryHelperRos::odomCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Callback for receiving odometry data.

Parameters

msg	An Odometry message

Definition at line 45 of file odometry_helper_ros.cpp.

void base_local_planner::OdometryHelperRos::setOdomTopic

(

std::string

odom_topic

)

Set the odometry topic. This overrides what was set in the constructor, if anything.

This unsubscribes from the old topic (if any) and subscribes to the new one (if any).

If odom_topic is the empty string, this just unsubscribes from the previous topic.

Definition at line 80 of file odometry_helper_ros.cpp.

Member Data Documentation

nav_msgs::Odometry base_local_planner::OdometryHelperRos::base_odom_

private

Definition at line 84 of file odometry_helper_ros.h.

std::string base_local_planner::OdometryHelperRos::frame_id_

private

The frame_id associated this data.

Definition at line 87 of file odometry_helper_ros.h.

boost::mutex base_local_planner::OdometryHelperRos::odom_mutex_

private

Definition at line 85 of file odometry_helper_ros.h.

ros::Subscriber base_local_planner::OdometryHelperRos::odom_sub_

private

Definition at line 83 of file odometry_helper_ros.h.

std::string base_local_planner::OdometryHelperRos::odom_topic_

private

Definition at line 80 of file odometry_helper_ros.h.

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

• odometry_helper_ros.h
• odometry_helper_ros.cpp