#include <p2os.hpp>

Public Member Functions
void	check_and_set_gripper_state ()

void	check_and_set_motor_state ()

void	check_and_set_vel ()

void	check_stall (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	check_voltage (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	cmdmotor_state (const p2os_msgs::MotorStateConstPtr &)

void	cmdvel_cb (const geometry_msgs::TwistConstPtr &)

unsigned char	DegreesToTicks (int joint, double degrees)
	convert degrees to ticks More...

double	get_pulse ()

void	gripperCallback (const p2os_msgs::GripperStateConstPtr &msg)

	P2OSNode (ros::NodeHandle n)
	P2OS robot driver node. More...

unsigned char	RadiansToTicks (int joint, double rads)
	Convert radians to ticks. More...

double	RadsPerSectoSecsPerTick (int joint, double speed)
	Convert radians per second to radians per encoder tick. More...

void	ResetRawPositions ()

double	SecsPerTicktoRadsPerSec (int joint, double secs)
	Convert Seconds per encoder tick to radians per second. More...

void	SendPulse (void)

int	SendReceive (P2OSPacket *pkt, bool publish_data=true)

int	Setup ()
	Setup the robot for use. Communicates with the robot directly. More...

int	Shutdown ()
	Prepare for shutdown. More...

void	StandardSIPPutData (ros::Time ts)

double	TicksToDegrees (int joint, unsigned char ticks)
	Convert ticks to degrees. More...

double	TicksToRadians (int joint, unsigned char ticks)
	Convert ticks to radians. More...

void	ToggleMotorPower (unsigned char val)
	Toggle motors on/off. More...

void	ToggleSonarPower (unsigned char val)

void	updateDiagnostics ()

virtual	~P2OSNode ()

Public Attributes
p2os_msgs::MotorState	cmdmotor_state_
	Motor state publisher. More...

geometry_msgs::Twist	cmdvel_
	Command Velocity subscriber. More...

p2os_msgs::GripperState	gripper_state_
	Gripper state publisher. More...

ros_p2os_data_t	p2os_data
	sensor data container More...

Protected Attributes
ros::Publisher	aio_pub_

std::string	base_link_frame_id

diagnostic_updater::DiagnosedPublisher< p2os_msgs::BatteryState >	batt_pub_

int	bumpstall
	Stall I hit a wall? More...

ros::Subscriber	cmdmstate_sub_

ros::Subscriber	cmdvel_sub_

double	desired_freq

diagnostic_updater::Updater	diagnostic_

ros::Publisher	dio_pub_

int	direct_wheel_vel_control
	Control wheel velocities individually? More...

ros::Publisher	grip_state_pub_

bool	gripper_dirty_ = false

ros::Subscriber	gripper_sub_

int	joystick
	Use Joystick? More...

double	lastPulseTime
	Last time the node received or sent a pulse. More...

bool	motor_dirty

int16_t	motor_max_rot_accel
	Maximum rotational acceleration in radians per second per second. More...

int16_t	motor_max_rot_decel
	Minimum rotational acceleration in Meters per second per second. More...

int	motor_max_speed
	Maximum motor speed in Meters per second. More...

int16_t	motor_max_trans_accel
	Maximum translational acceleration in Meters per second per second. More...

int16_t	motor_max_trans_decel
	Minimum translational acceleration in Meters per second per second. More...

int	motor_max_turnspeed
	Maximum turn speed in radians per second. More...

ros::Publisher	mstate_pub_

ros::NodeHandle	n
	Node Handler used for publication of data. More...

ros::NodeHandle	nh_private
	Node Handler used for private data publication. More...

tf::TransformBroadcaster	odom_broadcaster

std::string	odom_frame_id

int	param_idx

ros::Publisher	pose_pub_

int	psos_fd

std::string	psos_serial_port

std::string	psos_tcp_host

int	psos_tcp_port

bool	psos_use_tcp

P2OSPtz	ptz_

ros::Subscriber	ptz_cmd_sub_

ros::Publisher	ptz_state_pub_

double	pulse
	Pulse time. More...

int	radio_modemp

int	rot_ki

int	rot_kp

int	rot_kv

SIP *	sippacket

ros::Publisher	sonar_pub_

int	trans_ki

int	trans_kp

int	trans_kv

bool	use_sonar_
	Use the sonar array? More...

bool	vel_dirty

ros::Time	veltime

Detailed Description

Definition at line 83 of file p2os.hpp.

Constructor & Destructor Documentation

P2OSNode::P2OSNode ( ros::NodeHandle n )

explicit

P2OS robot driver node.

This class contains, essentially, the main means of communication between the robot and ROS.

Constructor for P2OS node.

This brings up the P2OS system for ROS operation.

Definition at line 31 of file p2os.cpp.

P2OSNode::~P2OSNode ( )

virtual

Destructor

Definition at line 131 of file p2os.cpp.

Member Function Documentation

void P2OSNode::check_and_set_gripper_state ( )

Definition at line 160 of file p2os.cpp.

void P2OSNode::check_and_set_motor_state ( )

Definition at line 139 of file p2os.cpp.

void P2OSNode::check_and_set_vel ( )

Definition at line 215 of file p2os.cpp.

void P2OSNode::check_stall ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 757 of file p2os.cpp.

void P2OSNode::check_voltage ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 745 of file p2os.cpp.

void P2OSNode::cmdmotor_state ( const p2os_msgs::MotorStateConstPtr & msg )

Definition at line 133 of file p2os.cpp.

void P2OSNode::cmdvel_cb ( const geometry_msgs::TwistConstPtr & msg )

Definition at line 193 of file p2os.cpp.

unsigned char P2OSNode::DegreesToTicks	(	int	joint,
		double	degrees
	)

inline

convert degrees to ticks

Definition at line 844 of file p2os.cpp.

double P2OSNode::get_pulse ( )

inline

Definition at line 127 of file p2os.hpp.

void P2OSNode::gripperCallback ( const p2os_msgs::GripperStateConstPtr & msg )

Definition at line 265 of file p2os.cpp.

unsigned char P2OSNode::RadiansToTicks	(	int	joint,
		double	rads
	)

inline

Convert radians to ticks.

Definition at line 874 of file p2os.cpp.

double P2OSNode::RadsPerSectoSecsPerTick	(	int	joint,
		double	speed
	)

inline

Convert radians per second to radians per encoder tick.

Definition at line 881 of file p2os.cpp.

void P2OSNode::ResetRawPositions ( )

Definition at line 768 of file p2os.cpp.

double P2OSNode::SecsPerTicktoRadsPerSec	(	int	joint,
		double	secs
	)

inline

Convert Seconds per encoder tick to radians per second.

Definition at line 897 of file p2os.cpp.

void P2OSNode::SendPulse ( void )

Definition at line 907 of file p2os.cpp.

int P2OSNode::SendReceive	(	P2OSPacket *	pkt,
		bool	publish_data = `true`
	)

Definition at line 688 of file p2os.cpp.

int P2OSNode::Setup ( )

Setup the robot for use. Communicates with the robot directly.

Definition at line 271 of file p2os.cpp.

int P2OSNode::Shutdown ( )

Prepare for shutdown.

Definition at line 623 of file p2os.cpp.

void P2OSNode::StandardSIPPutData ( ros::Time ts )

Definition at line 659 of file p2os.cpp.

double P2OSNode::TicksToDegrees	(	int	joint,
		unsigned char	ticks
	)

inline

Convert ticks to degrees.

Definition at line 825 of file p2os.cpp.

double P2OSNode::TicksToRadians	(	int	joint,
		unsigned char	ticks
	)

inline

Convert ticks to radians.

Definition at line 867 of file p2os.cpp.

void P2OSNode::ToggleMotorPower ( unsigned char val )

Toggle motors on/off.

Turn on/off the robots in accordance to val.

Parameters

val	Determines what state the motor should be. 1 = enabled, 0 = disabled.

Definition at line 805 of file p2os.cpp.

void P2OSNode::ToggleSonarPower ( unsigned char val )

Definition at line 787 of file p2os.cpp.

void P2OSNode::updateDiagnostics ( )

Definition at line 740 of file p2os.cpp.

Member Data Documentation

ros::Publisher P2OSNode::aio_pub_

protected

Definition at line 142 of file p2os.hpp.

std::string P2OSNode::base_link_frame_id

protected

Definition at line 154 of file p2os.hpp.

diagnostic_updater::DiagnosedPublisher<p2os_msgs::BatteryState> P2OSNode::batt_pub_

protected

Definition at line 141 of file p2os.hpp.

int P2OSNode::bumpstall

protected

Stall I hit a wall?

Definition at line 165 of file p2os.hpp.

p2os_msgs::MotorState P2OSNode::cmdmotor_state_

Motor state publisher.

Definition at line 198 of file p2os.hpp.

ros::Subscriber P2OSNode::cmdmstate_sub_

protected

Definition at line 145 of file p2os.hpp.

geometry_msgs::Twist P2OSNode::cmdvel_

Command Velocity subscriber.

Definition at line 196 of file p2os.hpp.

ros::Subscriber P2OSNode::cmdvel_sub_

protected

Definition at line 145 of file p2os.hpp.

double P2OSNode::desired_freq

protected

Definition at line 186 of file p2os.hpp.

diagnostic_updater::Updater P2OSNode::diagnostic_

protected

Definition at line 139 of file p2os.hpp.

ros::Publisher P2OSNode::dio_pub_

protected

Definition at line 142 of file p2os.hpp.

int P2OSNode::direct_wheel_vel_control

protected

Control wheel velocities individually?

Definition at line 169 of file p2os.hpp.

ros::Publisher P2OSNode::grip_state_pub_

protected

Definition at line 142 of file p2os.hpp.

bool P2OSNode::gripper_dirty_ = false

protected

Definition at line 159 of file p2os.hpp.

p2os_msgs::GripperState P2OSNode::gripper_state_

Gripper state publisher.

Definition at line 200 of file p2os.hpp.

ros::Subscriber P2OSNode::gripper_sub_

protected

Definition at line 145 of file p2os.hpp.

int P2OSNode::joystick

protected

Use Joystick?

Definition at line 167 of file p2os.hpp.

double P2OSNode::lastPulseTime

protected

Last time the node received or sent a pulse.

Definition at line 188 of file p2os.hpp.

bool P2OSNode::motor_dirty

protected

Definition at line 158 of file p2os.hpp.

int16_t P2OSNode::motor_max_rot_accel

protected

Maximum rotational acceleration in radians per second per second.

Definition at line 181 of file p2os.hpp.

int16_t P2OSNode::motor_max_rot_decel

protected

Minimum rotational acceleration in Meters per second per second.

Definition at line 183 of file p2os.hpp.

int P2OSNode::motor_max_speed

protected

Maximum motor speed in Meters per second.

Definition at line 173 of file p2os.hpp.

int16_t P2OSNode::motor_max_trans_accel

protected

Maximum translational acceleration in Meters per second per second.

Definition at line 177 of file p2os.hpp.

int16_t P2OSNode::motor_max_trans_decel

protected

Minimum translational acceleration in Meters per second per second.

Definition at line 179 of file p2os.hpp.

int P2OSNode::motor_max_turnspeed

protected

Maximum turn speed in radians per second.

Definition at line 175 of file p2os.hpp.

ros::Publisher P2OSNode::mstate_pub_

protected

Definition at line 142 of file p2os.hpp.

ros::NodeHandle P2OSNode::n

protected

Node Handler used for publication of data.

Definition at line 135 of file p2os.hpp.

ros::NodeHandle P2OSNode::nh_private

protected

Node Handler used for private data publication.

Definition at line 137 of file p2os.hpp.

tf::TransformBroadcaster P2OSNode::odom_broadcaster

protected

Definition at line 147 of file p2os.hpp.

std::string P2OSNode::odom_frame_id

protected

Definition at line 153 of file p2os.hpp.

ros_p2os_data_t P2OSNode::p2os_data

sensor data container

Definition at line 202 of file p2os.hpp.

int P2OSNode::param_idx

protected

Definition at line 160 of file p2os.hpp.

ros::Publisher P2OSNode::pose_pub_

protected

Definition at line 144 of file p2os.hpp.

int P2OSNode::psos_fd

protected

Definition at line 155 of file p2os.hpp.

std::string P2OSNode::psos_serial_port

protected

Definition at line 151 of file p2os.hpp.

std::string P2OSNode::psos_tcp_host

protected

Definition at line 152 of file p2os.hpp.

int P2OSNode::psos_tcp_port

protected

Definition at line 157 of file p2os.hpp.

bool P2OSNode::psos_use_tcp

protected

Definition at line 156 of file p2os.hpp.

P2OSPtz P2OSNode::ptz_

protected

Definition at line 192 of file p2os.hpp.

ros::Subscriber P2OSNode::ptz_cmd_sub_

protected

Definition at line 145 of file p2os.hpp.

ros::Publisher P2OSNode::ptz_state_pub_

protected

Definition at line 142 of file p2os.hpp.

double P2OSNode::pulse

protected

Pulse time.

Definition at line 185 of file p2os.hpp.

int P2OSNode::radio_modemp

protected

Definition at line 170 of file p2os.hpp.

int P2OSNode::rot_ki

protected

Definition at line 162 of file p2os.hpp.

int P2OSNode::rot_kp

protected

Definition at line 162 of file p2os.hpp.

int P2OSNode::rot_kv

protected

Definition at line 162 of file p2os.hpp.

SIP* P2OSNode::sippacket

protected

Definition at line 150 of file p2os.hpp.

ros::Publisher P2OSNode::sonar_pub_

protected

Definition at line 142 of file p2os.hpp.

int P2OSNode::trans_ki

protected

Definition at line 162 of file p2os.hpp.

int P2OSNode::trans_kp

protected

Definition at line 162 of file p2os.hpp.

int P2OSNode::trans_kv

protected

Definition at line 162 of file p2os.hpp.

bool P2OSNode::use_sonar_

protected

Use the sonar array?

Definition at line 190 of file p2os.hpp.

bool P2OSNode::vel_dirty

protected

Definition at line 158 of file p2os.hpp.

ros::Time P2OSNode::veltime

protected

Definition at line 148 of file p2os.hpp.

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

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation