pepperl_fuchs::R2000Node Class Reference

ROS driver node for the Pepperl+Fuchs R2000 laser range finder. More...

#include <r2000_node.h>

Public Member Functions
void	cmdMsgCallback (const std_msgs::StringConstPtr &msg)
	Callback function for control commands. More...
	R2000Node ()
	Initialize and connect to laser range finder. More...

Private Member Functions
bool	connect ()
void	getScanData (const ros::TimerEvent &e)
	Time callback function for getting data from the driver and sending them out. More...

Private Attributes
ros::Subscriber	cmd_subscriber_
	ROS subscriber for receiving control commands. More...
R2000Driver *	driver_
	Pointer to driver. More...
std::string	frame_id_
	frame_id of sensor_msgs/Laserscan messages More...
ros::Timer	get_scan_data_timer_
	Callback timer for getScanData(...) More...
ros::NodeHandle	nh_
	Internal ROS node handle. More...
int	samples_per_scan_
	samples_per_scan parameter More...
int	scan_frequency_
	scan_frequency parameter More...
ros::Publisher	scan_publisher_
	ROS publisher for publishing scan data. More...
std::string	scanner_ip_
	IP or hostname of laser range finder. More...

Detailed Description

ROS driver node for the Pepperl+Fuchs R2000 laser range finder.

Definition at line 41 of file r2000_node.h.

Constructor & Destructor Documentation

pepperl_fuchs::R2000Node::R2000Node

(

)

Initialize and connect to laser range finder.

Definition at line 37 of file r2000_node.cpp.

Member Function Documentation

void pepperl_fuchs::R2000Node::cmdMsgCallback

(

const std_msgs::StringConstPtr &

msg

)

Callback function for control commands.

Definition at line 145 of file r2000_node.cpp.

bool pepperl_fuchs::R2000Node::connect ( )

private

Connect to the laser range finder

Returns

True on success, false otherwise

Definition at line 64 of file r2000_node.cpp.

void pepperl_fuchs::R2000Node::getScanData ( const ros::TimerEvent &  e )

private

Time callback function for getting data from the driver and sending them out.

Definition at line 106 of file r2000_node.cpp.

Member Data Documentation

ros::Subscriber pepperl_fuchs::R2000Node::cmd_subscriber_

private

ROS subscriber for receiving control commands.

Definition at line 68 of file r2000_node.h.

R2000Driver* pepperl_fuchs::R2000Node::driver_

private

Pointer to driver.

Definition at line 83 of file r2000_node.h.

std::string pepperl_fuchs::R2000Node::frame_id_

private

frame_id of sensor_msgs/Laserscan messages

Definition at line 71 of file r2000_node.h.

ros::Timer pepperl_fuchs::R2000Node::get_scan_data_timer_

private

Callback timer for getScanData(...)

Definition at line 62 of file r2000_node.h.

ros::NodeHandle pepperl_fuchs::R2000Node::nh_

private

Internal ROS node handle.

Definition at line 59 of file r2000_node.h.

int pepperl_fuchs::R2000Node::samples_per_scan_

private

samples_per_scan parameter

Definition at line 80 of file r2000_node.h.

int pepperl_fuchs::R2000Node::scan_frequency_

private

scan_frequency parameter

Definition at line 77 of file r2000_node.h.

ros::Publisher pepperl_fuchs::R2000Node::scan_publisher_

private

ROS publisher for publishing scan data.

Definition at line 65 of file r2000_node.h.

std::string pepperl_fuchs::R2000Node::scanner_ip_

private

IP or hostname of laser range finder.

Definition at line 74 of file r2000_node.h.

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

• r2000_node.h
• r2000_node.cpp