Public Member Functions
void	check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	commandCallback (const ackermann_msgs::AckermannDriveStamped::ConstPtr &msg)

void	imuCallback (const sensor_msgs::Imu &imu_msg)

void	jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)

void	PublishOdometry ()

double	radnorm (double value)

double	radnorm2 (double value)

	RbcarControllerClass (ros::NodeHandle h)
	Public constructor. More...

double	saturation (double u, double min, double max)

void	setCommand (const ackermann_msgs::AckermannDriveStamped &msg)

bool	spin ()

bool	srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)

int	starting ()
	Controller startup in realtime. More...

void	stopping ()
	Controller stopping. More...

void	UpdateControl ()
	Controller update loop. More...

void	UpdateOdometry ()

Public Attributes
double	alfa_ref_

double	ang_vel_x_

double	ang_vel_y_

double	ang_vel_z_

double	angularSpeedRads_

ackermann_msgs::AckermannDriveStamped	base_vel_msg_

int	blw_vel_

std::string	blw_vel_topic_

int	brw_vel_

std::string	brw_vel_topic_

ros::Subscriber	cmd_sub_

diagnostic_updater::FunctionDiagnosticTask	command_freq_

double	desired_freq_

diagnostic_updater::Updater	diagnostic_

int	flw_pos_

std::string	flw_pos_topic_

int	flw_vel_

std::string	flw_vel_topic_

diagnostic_updater::FrequencyStatus	freq_diag_

int	frw_pos_

std::string	frw_pos_topic_

int	frw_vel_

std::string	frw_vel_topic_

ros::Subscriber	imu_sub_

std::string	joint_back_left_wheel

std::string	joint_back_right_wheel

std::string	joint_front_left_steer

std::string	joint_front_left_wheel

std::string	joint_front_right_steer

std::string	joint_front_right_wheel

sensor_msgs::JointState	joint_state_

ros::Subscriber	joint_state_sub_

ros::Time	last_command_time_

double	lin_acc_x_

double	lin_acc_y_

double	lin_acc_z_

double	linearSpeedXMps_

double	linearSpeedYMps_

ros::NodeHandle	node_handle_

tf::TransformBroadcaster	odom_broadcaster

ros::Publisher	odom_pub_

double	orientation_w_

double	orientation_x_

double	orientation_y_

double	orientation_z_

double	pos_ref_pan_

double	pos_ref_tilt_

ros::NodeHandle	private_node_handle_

bool	publish_odom_tf_

double	rbcar_d_wheels_

double	rbcar_wheel_diameter_

bool	read_state_

ros::Publisher	ref_pos_flw_

ros::Publisher	ref_pos_frw_

ros::Publisher	ref_vel_blw_

ros::Publisher	ref_vel_brw_

ros::Publisher	ref_vel_flw_

ros::Publisher	ref_vel_frw_

std::string	robot_model_

double	robot_pose_pa_

double	robot_pose_px_

double	robot_pose_py_

double	robot_pose_vx_

double	robot_pose_vy_

ros::ServiceServer	srv_SetOdometry_

diagnostic_updater::HeaderlessTopicDiagnostic *	subs_command_freq

double	v_ref_

Detailed Description

Definition at line 67 of file rbcar_robot_control.cpp.

Constructor & Destructor Documentation

RbcarControllerClass::RbcarControllerClass ( ros::NodeHandle h )

inline

Public constructor.

Definition at line 188 of file rbcar_robot_control.cpp.

Member Function Documentation

void RbcarControllerClass::check_command_subscriber ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inline

Definition at line 510 of file rbcar_robot_control.cpp.

void RbcarControllerClass::commandCallback ( const ackermann_msgs::AckermannDriveStamped::ConstPtr & msg )

inline

Definition at line 561 of file rbcar_robot_control.cpp.

void RbcarControllerClass::imuCallback ( const sensor_msgs::Imu & imu_msg )

inline

Definition at line 572 of file rbcar_robot_control.cpp.

void RbcarControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr & msg )

inline

Definition at line 552 of file rbcar_robot_control.cpp.

void RbcarControllerClass::PublishOdometry ( )

inline

Definition at line 440 of file rbcar_robot_control.cpp.

double RbcarControllerClass::radnorm ( double value )

inline

Definition at line 595 of file rbcar_robot_control.cpp.

double RbcarControllerClass::radnorm2 ( double value )

inline

Definition at line 602 of file rbcar_robot_control.cpp.

double RbcarControllerClass::saturation	(	double	u,
		double	min,
		double	max
	)

inline

Definition at line 588 of file rbcar_robot_control.cpp.

void RbcarControllerClass::setCommand ( const ackermann_msgs::AckermannDriveStamped & msg )

inline

Definition at line 530 of file rbcar_robot_control.cpp.

bool RbcarControllerClass::spin ( )

inline

Definition at line 609 of file rbcar_robot_control.cpp.

bool RbcarControllerClass::srvCallback_SetOdometry	(	robotnik_msgs::set_odometry::Request &	request,
		robotnik_msgs::set_odometry::Response &	response
	)

inline

Definition at line 540 of file rbcar_robot_control.cpp.

int RbcarControllerClass::starting ( )

inline

Controller startup in realtime.

Definition at line 303 of file rbcar_robot_control.cpp.

void RbcarControllerClass::stopping ( )

inline

Controller stopping.

Definition at line 502 of file rbcar_robot_control.cpp.

void RbcarControllerClass::UpdateControl ( )

inline

Controller update loop.

Definition at line 322 of file rbcar_robot_control.cpp.

void RbcarControllerClass::UpdateOdometry ( )

inline

Definition at line 377 of file rbcar_robot_control.cpp.

Member Data Documentation

double RbcarControllerClass::alfa_ref_

Definition at line 148 of file rbcar_robot_control.cpp.

double RbcarControllerClass::ang_vel_x_

Definition at line 160 of file rbcar_robot_control.cpp.

double RbcarControllerClass::ang_vel_y_

Definition at line 161 of file rbcar_robot_control.cpp.

double RbcarControllerClass::ang_vel_z_

Definition at line 162 of file rbcar_robot_control.cpp.

double RbcarControllerClass::angularSpeedRads_

Definition at line 131 of file rbcar_robot_control.cpp.

ackermann_msgs::AckermannDriveStamped RbcarControllerClass::base_vel_msg_

Definition at line 144 of file rbcar_robot_control.cpp.

int RbcarControllerClass::blw_vel_

Definition at line 125 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::blw_vel_topic_

Definition at line 108 of file rbcar_robot_control.cpp.

int RbcarControllerClass::brw_vel_

Definition at line 125 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::brw_vel_topic_

Definition at line 107 of file rbcar_robot_control.cpp.

ros::Subscriber RbcarControllerClass::cmd_sub_

Definition at line 97 of file rbcar_robot_control.cpp.

diagnostic_updater::FunctionDiagnosticTask RbcarControllerClass::command_freq_

Definition at line 80 of file rbcar_robot_control.cpp.

double RbcarControllerClass::desired_freq_

Definition at line 73 of file rbcar_robot_control.cpp.

diagnostic_updater::Updater RbcarControllerClass::diagnostic_

Definition at line 76 of file rbcar_robot_control.cpp.

int RbcarControllerClass::flw_pos_

Definition at line 126 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::flw_pos_topic_

Definition at line 112 of file rbcar_robot_control.cpp.

int RbcarControllerClass::flw_vel_

Definition at line 125 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::flw_vel_topic_

Definition at line 106 of file rbcar_robot_control.cpp.

diagnostic_updater::FrequencyStatus RbcarControllerClass::freq_diag_

Definition at line 77 of file rbcar_robot_control.cpp.

int RbcarControllerClass::frw_pos_

Definition at line 126 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::frw_pos_topic_

Definition at line 111 of file rbcar_robot_control.cpp.

int RbcarControllerClass::frw_vel_

Definition at line 125 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::frw_vel_topic_

Definition at line 105 of file rbcar_robot_control.cpp.

ros::Subscriber RbcarControllerClass::imu_sub_

Definition at line 176 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::joint_back_left_wheel

Definition at line 117 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::joint_back_right_wheel

Definition at line 118 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::joint_front_left_steer

Definition at line 122 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::joint_front_left_wheel

Definition at line 116 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::joint_front_right_steer

Definition at line 121 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::joint_front_right_wheel

Definition at line 115 of file rbcar_robot_control.cpp.

sensor_msgs::JointState RbcarControllerClass::joint_state_

Definition at line 141 of file rbcar_robot_control.cpp.

ros::Subscriber RbcarControllerClass::joint_state_sub_

Definition at line 94 of file rbcar_robot_control.cpp.

ros::Time RbcarControllerClass::last_command_time_

Definition at line 79 of file rbcar_robot_control.cpp.

double RbcarControllerClass::lin_acc_x_

Definition at line 164 of file rbcar_robot_control.cpp.

double RbcarControllerClass::lin_acc_y_

Definition at line 165 of file rbcar_robot_control.cpp.

double RbcarControllerClass::lin_acc_z_

Definition at line 166 of file rbcar_robot_control.cpp.

double RbcarControllerClass::linearSpeedXMps_

Definition at line 129 of file rbcar_robot_control.cpp.

double RbcarControllerClass::linearSpeedYMps_

Definition at line 130 of file rbcar_robot_control.cpp.

ros::NodeHandle RbcarControllerClass::node_handle_

Definition at line 71 of file rbcar_robot_control.cpp.

tf::TransformBroadcaster RbcarControllerClass::odom_broadcaster

Definition at line 182 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::odom_pub_

Definition at line 179 of file rbcar_robot_control.cpp.

double RbcarControllerClass::orientation_w_

Definition at line 171 of file rbcar_robot_control.cpp.

double RbcarControllerClass::orientation_x_

Definition at line 168 of file rbcar_robot_control.cpp.

double RbcarControllerClass::orientation_y_

Definition at line 169 of file rbcar_robot_control.cpp.

double RbcarControllerClass::orientation_z_

Definition at line 170 of file rbcar_robot_control.cpp.

double RbcarControllerClass::pos_ref_pan_

Definition at line 149 of file rbcar_robot_control.cpp.

double RbcarControllerClass::pos_ref_tilt_

Definition at line 150 of file rbcar_robot_control.cpp.

ros::NodeHandle RbcarControllerClass::private_node_handle_

Definition at line 72 of file rbcar_robot_control.cpp.

bool RbcarControllerClass::publish_odom_tf_

Definition at line 174 of file rbcar_robot_control.cpp.

double RbcarControllerClass::rbcar_d_wheels_

Definition at line 157 of file rbcar_robot_control.cpp.

double RbcarControllerClass::rbcar_wheel_diameter_

Definition at line 156 of file rbcar_robot_control.cpp.

bool RbcarControllerClass::read_state_

Definition at line 153 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::ref_pos_flw_

Definition at line 90 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::ref_pos_frw_

Definition at line 91 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::ref_vel_blw_

Definition at line 88 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::ref_vel_brw_

Definition at line 89 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::ref_vel_flw_

Definition at line 86 of file rbcar_robot_control.cpp.

ros::Publisher RbcarControllerClass::ref_vel_frw_

Definition at line 87 of file rbcar_robot_control.cpp.

std::string RbcarControllerClass::robot_model_

Definition at line 83 of file rbcar_robot_control.cpp.

double RbcarControllerClass::robot_pose_pa_

Definition at line 136 of file rbcar_robot_control.cpp.

double RbcarControllerClass::robot_pose_px_

Definition at line 134 of file rbcar_robot_control.cpp.

double RbcarControllerClass::robot_pose_py_

Definition at line 135 of file rbcar_robot_control.cpp.

double RbcarControllerClass::robot_pose_vx_

Definition at line 137 of file rbcar_robot_control.cpp.

double RbcarControllerClass::robot_pose_vy_

Definition at line 138 of file rbcar_robot_control.cpp.

ros::ServiceServer RbcarControllerClass::srv_SetOdometry_

Definition at line 102 of file rbcar_robot_control.cpp.

diagnostic_updater::HeaderlessTopicDiagnostic* RbcarControllerClass::subs_command_freq

Definition at line 78 of file rbcar_robot_control.cpp.

double RbcarControllerClass::v_ref_

Definition at line 147 of file rbcar_robot_control.cpp.

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

rbcar_robot_control.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation