kobuki::KobukiRos Class Reference

#include <kobuki_ros.hpp>

Public Member Functions
bool	init (ros::NodeHandle &nh, ros::NodeHandle &nh_pub)
	KobukiRos (std::string &node_name)
	Default constructor. More...
bool	update ()
	~KobukiRos ()

Private Member Functions
void	advertiseTopics (ros::NodeHandle &nh)
void	processStreamData ()
void	publishBumperEvent (const BumperEvent &event)
void	publishButtonEvent (const ButtonEvent &event)
void	publishCliffEvent (const CliffEvent &event)
void	publishControllerInfo ()
void	publishDockIRData ()
void	publishInertia ()
void	publishInputEvent (const InputEvent &event)
void	publishPowerEvent (const PowerEvent &event)
void	publishRawControlCommand (const std::vector< short > &velocity_commands)
void	publishRawDataCommand (Command::Buffer &buffer)
	Prints the raw data stream to a publisher. More...
void	publishRawDataStream (PacketFinder::BufferType &buffer)
	Prints the raw data stream to a publisher. More...
void	publishRawInertia ()
void	publishRobotEvent (const RobotEvent &event)
void	publishSensorState ()
void	publishVersionInfo (const VersionInfo &version_info)
	Publish fw, hw, sw version information. More...
void	publishWheelEvent (const WheelEvent &event)
void	publishWheelState ()
void	rosDebug (const std::string &msg)
void	rosError (const std::string &msg)
void	rosInfo (const std::string &msg)
void	rosNamed (const std::vector< std::string > &msgs)
void	rosWarn (const std::string &msg)
void	subscribeControllerInfoCommand (const kobuki_msgs::ControllerInfoConstPtr msg)
void	subscribeDigitalOutputCommand (const kobuki_msgs::DigitalOutputConstPtr)
void	subscribeExternalPowerCommand (const kobuki_msgs::ExternalPowerConstPtr)
void	subscribeLed1Command (const kobuki_msgs::LedConstPtr)
void	subscribeLed2Command (const kobuki_msgs::LedConstPtr)
void	subscribeMotorPower (const kobuki_msgs::MotorPowerConstPtr msg)
void	subscribeResetOdometry (const std_msgs::EmptyConstPtr)
	Reset the odometry variables. More...
void	subscribeSoundCommand (const kobuki_msgs::SoundConstPtr)
	Play a predefined sound (single sound or sound sequence) More...
void	subscribeTopics (ros::NodeHandle &nh)
void	subscribeVelocityCommand (const geometry_msgs::TwistConstPtr)

Private Attributes
AnalogInputTask	ainput_diagnostics
BatteryTask	battery_diagnostics
WallSensorTask	bumper_diagnostics
ros::Publisher	bumper_event_publisher
ros::Publisher	button_event_publisher
CliffSensorTask	cliff_diagnostics
ros::Publisher	cliff_event_publisher
bool	cmd_vel_timed_out_
ros::Subscriber	controller_info_command_subscriber
ros::Publisher	controller_info_publisher
ros::Subscriber	digital_output_command_subscriber
DigitalInputTask	dinput_diagnostics
ros::Publisher	dock_ir_publisher
ros::Subscriber	external_power_command_subscriber
GyroSensorTask	gyro_diagnostics
ros::Publisher	imu_data_publisher
ros::Publisher	input_event_publisher
ros::Publisher	joint_state_publisher
sensor_msgs::JointState	joint_states
Kobuki	kobuki
ros::Subscriber	led1_command_subscriber
ros::Subscriber	led2_command_subscriber
MotorCurrentTask	motor_diagnostics
ros::Subscriber	motor_power_subscriber
std::string	name
Odometry	odometry
ros::Publisher	power_event_publisher
ros::Publisher	raw_control_command_publisher
ros::Publisher	raw_data_command_publisher
ros::Publisher	raw_data_stream_publisher
ros::Publisher	raw_imu_data_publisher
ros::Subscriber	reset_odometry_subscriber
ros::Publisher	robot_event_publisher
ros::Publisher	sensor_state_publisher
bool	serial_timed_out_
ecl::Slot< const BumperEvent & >	slot_bumper_event
ecl::Slot< const ButtonEvent & >	slot_button_event
ecl::Slot< const CliffEvent & >	slot_cliff_event
ecl::Slot	slot_controller_info
ecl::Slot< const std::string & >	slot_debug
ecl::Slot< const std::string & >	slot_error
ecl::Slot< const std::string & >	slot_info
ecl::Slot< const InputEvent & >	slot_input_event
ecl::Slot< const std::vector< std::string > & >	slot_named
ecl::Slot< const PowerEvent & >	slot_power_event
ecl::Slot< const std::vector< short > & >	slot_raw_control_command
ecl::Slot< Command::Buffer & >	slot_raw_data_command
ecl::Slot< PacketFinder::BufferType & >	slot_raw_data_stream
ecl::Slot< const RobotEvent & >	slot_robot_event
ecl::Slot	slot_stream_data
ecl::Slot< const VersionInfo & >	slot_version_info
ecl::Slot< const std::string & >	slot_warn
ecl::Slot< const WheelEvent & >	slot_wheel_event
ros::Subscriber	sound_command_subscriber
MotorStateTask	state_diagnostics
diagnostic_updater::Updater	updater
ros::Subscriber	velocity_command_subscriber
ros::Publisher	version_info_publisher
WatchdogTask	watchdog_diagnostics
WheelDropTask	wheel_diagnostics
ros::Publisher	wheel_event_publisher

Detailed Description

Definition at line 84 of file kobuki_ros.hpp.

Constructor & Destructor Documentation

kobuki::KobukiRos::KobukiRos

(

std::string &

node_name

)

Default constructor.

Make sure you call the init() method to fully define this node.

Definition at line 61 of file kobuki_ros.cpp.

kobuki::KobukiRos::~KobukiRos

(

)

This will wait some time while kobuki internally closes its threads and destructs itself.

Definition at line 99 of file kobuki_ros.cpp.

Member Function Documentation

void kobuki::KobukiRos::advertiseTopics ( ros::NodeHandle &  nh )

private

Two groups of publishers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 303 of file kobuki_ros.cpp.

bool kobuki::KobukiRos::init	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_pub
	)

Definition at line 104 of file kobuki_ros.cpp.

void kobuki::KobukiRos::processStreamData ( )

private

Definition at line 49 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishBumperEvent ( const BumperEvent &  event )

private

Definition at line 287 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishButtonEvent ( const ButtonEvent &  event )

private

Definition at line 267 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishCliffEvent ( const CliffEvent &  event )

private

Definition at line 307 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishControllerInfo ( )

private

Definition at line 247 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishDockIRData ( )

private

Definition at line 184 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInertia ( )

private

Definition at line 117 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInputEvent ( const InputEvent &  event )

private

Definition at line 371 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishPowerEvent ( const PowerEvent &  event )

private

Definition at line 347 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawControlCommand ( const std::vector< short > &  velocity_commands )

private

Definition at line 472 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawDataCommand ( Command::Buffer &  buffer )

private

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data commands. Useful for debugging command to protocol byte packets to the firmware.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters

buffer

Definition at line 410 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawDataStream ( PacketFinder::BufferType &  buffer )

private

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data (incoming) stream. Useful for checking when bytes get mangled.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters

buffer

Definition at line 437 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawInertia ( )

private

Definition at line 152 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRobotEvent ( const RobotEvent &  event )

private

Definition at line 382 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishSensorState ( )

private

Definition at line 61 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishVersionInfo ( const VersionInfo &  version_info )

private

Publish fw, hw, sw version information.

The driver will only gather this data when initialising so it is important that this publisher is latched.

Definition at line 216 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelEvent ( const WheelEvent &  event )

private

Definition at line 328 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelState ( )

private

Definition at line 98 of file slot_callbacks.cpp.

void kobuki::KobukiRos::rosDebug ( const std::string &  msg )

inlineprivate

Definition at line 174 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosError ( const std::string &  msg )

inlineprivate

Definition at line 177 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosInfo ( const std::string &  msg )

inlineprivate

Definition at line 175 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosNamed ( const std::vector< std::string > &  msgs )

inlineprivate

Definition at line 178 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosWarn ( const std::string &  msg )

inlineprivate

Definition at line 176 of file kobuki_ros.hpp.

void kobuki::KobukiRos::subscribeControllerInfoCommand ( const kobuki_msgs::ControllerInfoConstPtr  msg )

private

Definition at line 228 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeDigitalOutputCommand ( const kobuki_msgs::DigitalOutputConstPtr  msg )

private

Definition at line 93 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeExternalPowerCommand ( const kobuki_msgs::ExternalPowerConstPtr  msg )

private

Definition at line 104 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed1Command ( const kobuki_msgs::LedConstPtr  msg )

private

Definition at line 69 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed2Command ( const kobuki_msgs::LedConstPtr  msg )

private

Definition at line 81 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeMotorPower ( const kobuki_msgs::MotorPowerConstPtr  msg )

private

Definition at line 207 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeResetOdometry ( const std_msgs::EmptyConstPtr  )

private

Reset the odometry variables.

Definition at line 195 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeSoundCommand ( const kobuki_msgs::SoundConstPtr  msg )

private

Play a predefined sound (single sound or sound sequence)

Definition at line 155 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeTopics ( ros::NodeHandle &  nh )

private

Two groups of subscribers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 335 of file kobuki_ros.cpp.

void kobuki::KobukiRos::subscribeVelocityCommand ( const geometry_msgs::TwistConstPtr  msg )

private

Definition at line 53 of file subscriber_callbacks.cpp.

bool kobuki::KobukiRos::update

(

)

This is a worker function that runs in a background thread initiated by the nodelet. It gathers diagnostics information from the kobuki driver, and broadcasts the results to the rest of the ros ecosystem.

Note that the actual driver data is collected via the slot callbacks in this class.

Returns

Bool : true/false if successfully updated or not (kobuki driver shutdown).

Definition at line 248 of file kobuki_ros.cpp.

Member Data Documentation

AnalogInputTask kobuki::KobukiRos::ainput_diagnostics

private

Definition at line 214 of file kobuki_ros.hpp.

BatteryTask kobuki::KobukiRos::battery_diagnostics

private

Definition at line 205 of file kobuki_ros.hpp.

WallSensorTask kobuki::KobukiRos::bumper_diagnostics

private

Definition at line 208 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::bumper_event_publisher

private

Definition at line 110 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::button_event_publisher

private

Definition at line 109 of file kobuki_ros.hpp.

CliffSensorTask kobuki::KobukiRos::cliff_diagnostics

private

Definition at line 207 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::cliff_event_publisher

private

Definition at line 110 of file kobuki_ros.hpp.

bool kobuki::KobukiRos::cmd_vel_timed_out_

private

Definition at line 101 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::controller_info_command_subscriber

private

Definition at line 114 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::controller_info_publisher

private

Definition at line 107 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::digital_output_command_subscriber

private

Definition at line 113 of file kobuki_ros.hpp.

DigitalInputTask kobuki::KobukiRos::dinput_diagnostics

private

Definition at line 213 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::dock_ir_publisher

private

Definition at line 108 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::external_power_command_subscriber

private

Definition at line 113 of file kobuki_ros.hpp.

GyroSensorTask kobuki::KobukiRos::gyro_diagnostics

private

Definition at line 212 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::imu_data_publisher

private

Definition at line 108 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::input_event_publisher

private

Definition at line 109 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::joint_state_publisher

private

Definition at line 108 of file kobuki_ros.hpp.

sensor_msgs::JointState kobuki::KobukiRos::joint_states

private

Definition at line 99 of file kobuki_ros.hpp.

Kobuki kobuki::KobukiRos::kobuki

private

Definition at line 98 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::led1_command_subscriber

private

Definition at line 115 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::led2_command_subscriber

private

Definition at line 115 of file kobuki_ros.hpp.

MotorCurrentTask kobuki::KobukiRos::motor_diagnostics

private

Definition at line 210 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::motor_power_subscriber

private

Definition at line 116 of file kobuki_ros.hpp.

std::string kobuki::KobukiRos::name

private

Definition at line 97 of file kobuki_ros.hpp.

Odometry kobuki::KobukiRos::odometry

private

Definition at line 100 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::power_event_publisher

private

Definition at line 110 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_control_command_publisher

private

Definition at line 111 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_data_command_publisher

private

Definition at line 111 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_data_stream_publisher

private

Definition at line 111 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_imu_data_publisher

private

Definition at line 108 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::reset_odometry_subscriber

private

Definition at line 116 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::robot_event_publisher

private

Definition at line 109 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::sensor_state_publisher

private

Definition at line 108 of file kobuki_ros.hpp.

bool kobuki::KobukiRos::serial_timed_out_

private

Definition at line 102 of file kobuki_ros.hpp.

ecl::Slot<const BumperEvent&> kobuki::KobukiRos::slot_bumper_event

private

Definition at line 141 of file kobuki_ros.hpp.

ecl::Slot<const ButtonEvent&> kobuki::KobukiRos::slot_button_event

private

Definition at line 140 of file kobuki_ros.hpp.

ecl::Slot<const CliffEvent&> kobuki::KobukiRos::slot_cliff_event

private

Definition at line 142 of file kobuki_ros.hpp.

ecl::Slot kobuki::KobukiRos::slot_controller_info

private

Definition at line 139 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_debug

private

Definition at line 147 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_error

private

Definition at line 147 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_info

private

Definition at line 147 of file kobuki_ros.hpp.

ecl::Slot<const InputEvent&> kobuki::KobukiRos::slot_input_event

private

Definition at line 145 of file kobuki_ros.hpp.

ecl::Slot<const std::vector<std::string>&> kobuki::KobukiRos::slot_named

private

Definition at line 148 of file kobuki_ros.hpp.

ecl::Slot<const PowerEvent&> kobuki::KobukiRos::slot_power_event

private

Definition at line 144 of file kobuki_ros.hpp.

ecl::Slot<const std::vector<short>&> kobuki::KobukiRos::slot_raw_control_command

private

Definition at line 151 of file kobuki_ros.hpp.

ecl::Slot<Command::Buffer&> kobuki::KobukiRos::slot_raw_data_command

private

Definition at line 149 of file kobuki_ros.hpp.

ecl::Slot<PacketFinder::BufferType&> kobuki::KobukiRos::slot_raw_data_stream

private

Definition at line 150 of file kobuki_ros.hpp.

ecl::Slot<const RobotEvent&> kobuki::KobukiRos::slot_robot_event

private

Definition at line 146 of file kobuki_ros.hpp.

ecl::Slot kobuki::KobukiRos::slot_stream_data

private

Definition at line 138 of file kobuki_ros.hpp.

ecl::Slot<const VersionInfo&> kobuki::KobukiRos::slot_version_info

private

Definition at line 137 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_warn

private

Definition at line 147 of file kobuki_ros.hpp.

ecl::Slot<const WheelEvent&> kobuki::KobukiRos::slot_wheel_event

private

Definition at line 143 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::sound_command_subscriber

private

Definition at line 115 of file kobuki_ros.hpp.

MotorStateTask kobuki::KobukiRos::state_diagnostics

private

Definition at line 211 of file kobuki_ros.hpp.

diagnostic_updater::Updater kobuki::KobukiRos::updater

private

Definition at line 204 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::velocity_command_subscriber

private

Definition at line 113 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::version_info_publisher

private

Definition at line 107 of file kobuki_ros.hpp.

WatchdogTask kobuki::KobukiRos::watchdog_diagnostics

private

Definition at line 206 of file kobuki_ros.hpp.

WheelDropTask kobuki::KobukiRos::wheel_diagnostics

private

Definition at line 209 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::wheel_event_publisher

private

Definition at line 110 of file kobuki_ros.hpp.

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

• kobuki_ros.hpp
• kobuki_ros.cpp
• slot_callbacks.cpp
• subscriber_callbacks.cpp