oculusprime::OculusprimeFollower Class Reference

Inheritance diagram for oculusprime::OculusprimeFollower:

Public Member Functions
	OculusprimeFollower ()
	The constructor for the follower. Constructor for the follower. More...
	~OculusprimeFollower ()
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Private Member Functions
void	cloudcb (const PointCloud::ConstPtr &cloud)
	Callback for point clouds. Callback for point clouds. Uses PCL to find the centroid of the points in a box in the center of the point cloud. Publishes cmd_vel messages with the goal from the cloud. More...
virtual void	onInit ()
	OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics. More...
void	publishBbox ()
void	publishMarker (double x, double y, double z)
void	reconfigure (oculusprime::FollowerConfig &config, uint32_t level)

Private Attributes
ros::Publisher	bboxpub_
ros::Publisher	cmdpub_
dynamic_reconfigure::Server< oculusprime::FollowerConfig > *	config_srv_
bool	enabled_
double	goal_z_
ros::Publisher	markerpub_
double	max_x_
double	max_y_
double	max_z_
double	min_x_
double	min_y_
ros::Subscriber	sub_
double	x_scale_
double	x_tol_
double	z_scale_
double	z_tol_

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

The oculusprime follower nodelet. Subscribes to point clouds from the 3dsensor, processes them, and publishes command vel messages.

Definition at line 53 of file follower.cpp.

Constructor & Destructor Documentation

oculusprime::OculusprimeFollower::OculusprimeFollower ( )

inline

The constructor for the follower. Constructor for the follower.

Definition at line 60 of file follower.cpp.

oculusprime::OculusprimeFollower::~OculusprimeFollower ( )

inline

Definition at line 70 of file follower.cpp.

Member Function Documentation

void oculusprime::OculusprimeFollower::cloudcb ( const PointCloud::ConstPtr &  cloud )

inlineprivate

Callback for point clouds. Callback for point clouds. Uses PCL to find the centroid of the points in a box in the center of the point cloud. Publishes cmd_vel messages with the goal from the cloud.

Parameters

cloud

The point cloud message.

Definition at line 153 of file follower.cpp.

virtual void oculusprime::OculusprimeFollower::onInit ( )

inlineprivatevirtual

OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.

Implements nodelet::Nodelet.

Definition at line 99 of file follower.cpp.

void oculusprime::OculusprimeFollower::publishBbox ( )

inlineprivate

Definition at line 273 of file follower.cpp.

void oculusprime::OculusprimeFollower::publishMarker ( double  x, double  y, double  z  )

inlineprivate

Definition at line 246 of file follower.cpp.

void oculusprime::OculusprimeFollower::reconfigure ( oculusprime::FollowerConfig &  config, uint32_t  level  )

inlineprivate

Definition at line 131 of file follower.cpp.

Member Data Documentation

ros::Publisher oculusprime::OculusprimeFollower::bboxpub_

private

Definition at line 311 of file follower.cpp.

ros::Publisher oculusprime::OculusprimeFollower::cmdpub_

private

Definition at line 309 of file follower.cpp.

dynamic_reconfigure::Server<oculusprime::FollowerConfig>* oculusprime::OculusprimeFollower::config_srv_

private

Definition at line 92 of file follower.cpp.

bool oculusprime::OculusprimeFollower::enabled_

private

Enable/disable following; just prevents motor commands

Definition at line 86 of file follower.cpp.

double oculusprime::OculusprimeFollower::goal_z_

private

The distance away from the robot to hold the centroid

Definition at line 81 of file follower.cpp.

ros::Publisher oculusprime::OculusprimeFollower::markerpub_

private

Definition at line 310 of file follower.cpp.

double oculusprime::OculusprimeFollower::max_x_

private

The maximum x position of the points in the box.

Definition at line 79 of file follower.cpp.

double oculusprime::OculusprimeFollower::max_y_

private

The maximum y position of the points in the box.

Definition at line 77 of file follower.cpp.

double oculusprime::OculusprimeFollower::max_z_

private

The maximum z position of the points in the box.

Definition at line 80 of file follower.cpp.

double oculusprime::OculusprimeFollower::min_x_

private

The minimum x position of the points in the box.

Definition at line 78 of file follower.cpp.

double oculusprime::OculusprimeFollower::min_y_

private

The minimum y position of the points in the box.

Definition at line 76 of file follower.cpp.

ros::Subscriber oculusprime::OculusprimeFollower::sub_

private

Definition at line 308 of file follower.cpp.

double oculusprime::OculusprimeFollower::x_scale_

private

The scaling factor for rotational robot speed

Definition at line 83 of file follower.cpp.

double oculusprime::OculusprimeFollower::x_tol_

private

The target x centroid position allowable tolerance

Definition at line 85 of file follower.cpp.

double oculusprime::OculusprimeFollower::z_scale_

private

The scaling factor for translational robot speed

Definition at line 82 of file follower.cpp.

double oculusprime::OculusprimeFollower::z_tol_

private

The target z centroid position allowable tolerance

Definition at line 84 of file follower.cpp.

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

• follower.cpp