#include <device_nodelet.h>

Inheritance diagram for rc::DeviceNodelet:

Public Member Functions
bool	depthAcquisitionTrigger (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Trigger stereo matching in mode 'SingleFrame'. More...

	DeviceNodelet ()

bool	dynamicsResetSlam (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Reset SLAM (keep Stereo INS running) More...

bool	dynamicsRestart (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Restart Stereo INS. More...

bool	dynamicsRestartSlam (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Restart Stereo INS+SLAM. More...

bool	dynamicsStart (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Start Stereo INS. More...

bool	dynamicsStartSlam (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Start Stereo INS+SLAM. More...

bool	dynamicsStop (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Stop Stereo INS(+SLAM if running) More...

bool	dynamicsStopSlam (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Stop SLAM (keep Stereo INS running) More...

bool	getSlamTrajectory (rc_visard_driver::GetTrajectory::Request &req, rc_visard_driver::GetTrajectory::Response &resp)
	Get the Slam trajectory. More...

bool	loadSlamMap (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Load the onboard SLAM map. More...

virtual void	onInit ()

bool	removeSlamMap (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Remove the onboard SLAM map. More...

bool	saveSlamMap (rc_common_msgs::Trigger::Request &req, rc_common_msgs::Trigger::Response &resp)
	Save the onboard SLAM map. More...

virtual	~DeviceNodelet ()

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	grab (std::string device, rcg::Device::ACCESS access)

void	initConfiguration (const std::shared_ptr< GenApi::CNodeMapRef > &nodemap, rc_visard_driver::rc_visard_driverConfig &cfg, rcg::Device::ACCESS access)

void	keepAliveAndRecoverFromFails ()

void	produce_connection_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	produce_device_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	reconfigure (rc_visard_driver::rc_visard_driverConfig &config, uint32_t level)

Static Private Member Functions
static ThreadedStream::Ptr	CreateDynamicsStreamOfType (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh, const std::string &frame_id_prefix, bool tfEnabled, bool staticImu2CamTf)

Private Attributes
bool	atLeastOnceSuccessfullyStarted

bool	autopublishTrajectory

bool	autostartDynamics

bool	autostartSlam

bool	autostopDynamics

int	cntConsecutiveRecoveryFails

rc_visard_driver::rc_visard_driverConfig	config

ros::ServiceServer	depthAcquisitionTriggerService
	wrapper for REST-API calls relating to rc_visard's dynamics interface More...

std::string	dev_ipaddr

std::string	dev_macaddr

std::string	dev_serialno

bool	dev_supports_chunk_data

bool	dev_supports_color

bool	dev_supports_depth_acquisition_trigger

bool	dev_supports_double_shot

bool	dev_supports_gain

bool	dev_supports_wb

std::string	dev_version

rc::dynamics::RemoteInterface::Ptr	dynamicsInterface

ros::ServiceServer	dynamicsResetSlamService

ros::ServiceServer	dynamicsRestartService

ros::ServiceServer	dynamicsRestartSlamService

ros::ServiceServer	dynamicsStartService

ros::ServiceServer	dynamicsStartSlamService

ros::ServiceServer	dynamicsStopService

ros::ServiceServer	dynamicsStopSlamService

ThreadedStream::Manager::Ptr	dynamicsStreams

ros::ServiceServer	getSlamTrajectoryService

std::string	gev_packet_size

std::string	gev_userid

std::atomic_bool	imageRequested

std::atomic_bool	imageSuccess

std::thread	imageThread

bool	iocontrol_avail

std::atomic_uint_least32_t	level

int	maxNumRecoveryTrials

boost::recursive_mutex	mtx

bool	perform_depth_acquisition_trigger

std::shared_ptr< rcg::Device >	rcgdev

std::shared_ptr< GenApi::CNodeMapRef >	rcgnodemap

dynamic_reconfigure::Server< rc_visard_driver::rc_visard_driverConfig > *	reconfig

std::thread	recoverThread

bool	recoveryRequested

ros::ServiceServer	slamLoadMapService

ros::ServiceServer	slamRemoveMapService

ros::ServiceServer	slamSaveMapService

bool	stereo_plus_avail

std::atomic_bool	stopImageThread

std::atomic_bool	stopRecoverThread

bool	tfEnabled
	should poses published also via tf? More...

std::string	tfPrefix
	all frame names must be prefixed when using more than one rc_visard More...

tf2_ros::StaticTransformBroadcaster	tfStaticBroadcaster

unsigned int	totalCompleteBuffers

unsigned int	totalConnectionLosses

unsigned int	totalImageReceiveTimeouts

unsigned int	totalIncompleteBuffers

ros::Publisher	trajPublisher

diagnostic_updater::Updater	updater
	diagnostics publishing More...

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

Definition at line 61 of file device_nodelet.h.

Constructor & Destructor Documentation

rc::DeviceNodelet::DeviceNodelet ( )

Definition at line 129 of file device_nodelet.cc.

rc::DeviceNodelet::~DeviceNodelet ( )

virtual

Definition at line 156 of file device_nodelet.cc.

Member Function Documentation

ThreadedStream::Ptr rc::DeviceNodelet::CreateDynamicsStreamOfType	(	rc::dynamics::RemoteInterface::Ptr	rcdIface,
		const std::string &	stream,
		ros::NodeHandle &	nh,
		const std::string &	frame_id_prefix,
		bool	tfEnabled,
		bool	staticImu2CamTf
	)

staticprivate

Definition at line 108 of file device_nodelet.cc.

bool rc::DeviceNodelet::depthAcquisitionTrigger	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Trigger stereo matching in mode 'SingleFrame'.

Returns: always true, check resp.return_code.value == 0

Definition at line 1786 of file device_nodelet.cc.

bool rc::DeviceNodelet::dynamicsResetSlam	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Reset SLAM (keep Stereo INS running)

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 159 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::dynamicsRestart	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Restart Stereo INS.

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 135 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::dynamicsRestartSlam	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Restart Stereo INS+SLAM.

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 141 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::dynamicsStart	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Start Stereo INS.

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 123 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::dynamicsStartSlam	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Start Stereo INS+SLAM.

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 129 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::dynamicsStop	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Stop Stereo INS(+SLAM if running)

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 147 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::dynamicsStopSlam	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Stop SLAM (keep Stereo INS running)

Returns: always true, check resp.return_code.value == 0 for whether the dynamics service has been called

Definition at line 153 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::getSlamTrajectory	(	rc_visard_driver::GetTrajectory::Request &	req,
		rc_visard_driver::GetTrajectory::Response &	resp
	)

Get the Slam trajectory.

Returns: always true

Definition at line 165 of file dynamics_handlers.cc.

void rc::DeviceNodelet::grab	(	std::string	device,
		rcg::Device::ACCESS	access
	)

private

Definition at line 1353 of file device_nodelet.cc.

void rc::DeviceNodelet::initConfiguration	(	const std::shared_ptr< GenApi::CNodeMapRef > &	nodemap,
		rc_visard_driver::rc_visard_driverConfig &	cfg,
		rcg::Device::ACCESS	access
	)

private

Definition at line 499 of file device_nodelet.cc.

void rc::DeviceNodelet::keepAliveAndRecoverFromFails ( )

private

Definition at line 187 of file device_nodelet.cc.

bool rc::DeviceNodelet::loadSlamMap	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Load the onboard SLAM map.

Returns: always true, check resp.return_code.value == 0 for wheter map could be loaded

Definition at line 232 of file dynamics_handlers.cc.

void rc::DeviceNodelet::onInit ( )

virtual

Implements nodelet::Nodelet.

Definition at line 177 of file device_nodelet.cc.

void rc::DeviceNodelet::produce_connection_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

private

Definition at line 1798 of file device_nodelet.cc.

void rc::DeviceNodelet::produce_device_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

private

Definition at line 1833 of file device_nodelet.cc.

void rc::DeviceNodelet::reconfigure	(	rc_visard_driver::rc_visard_driverConfig &	config,
		uint32_t	level
	)

private

Definition at line 775 of file device_nodelet.cc.

bool rc::DeviceNodelet::removeSlamMap	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Remove the onboard SLAM map.

Returns: always true, check resp.return_code.value == 0 for wheter map could be removed

Definition at line 263 of file dynamics_handlers.cc.

bool rc::DeviceNodelet::saveSlamMap	(	rc_common_msgs::Trigger::Request &	req,
		rc_common_msgs::Trigger::Response &	resp
	)

Save the onboard SLAM map.

Returns: always true, check resp.return_code.value == 0 for wheter map could be saved

Definition at line 201 of file dynamics_handlers.cc.

Member Data Documentation

bool rc::DeviceNodelet::atLeastOnceSuccessfullyStarted

private

Definition at line 155 of file device_nodelet.h.

bool rc::DeviceNodelet::autopublishTrajectory

private

Definition at line 175 of file device_nodelet.h.

bool rc::DeviceNodelet::autostartDynamics

private

Definition at line 175 of file device_nodelet.h.

bool rc::DeviceNodelet::autostartSlam

private

Definition at line 175 of file device_nodelet.h.

bool rc::DeviceNodelet::autostopDynamics

private

Definition at line 175 of file device_nodelet.h.

int rc::DeviceNodelet::cntConsecutiveRecoveryFails

private

Definition at line 153 of file device_nodelet.h.

rc_visard_driver::rc_visard_driverConfig rc::DeviceNodelet::config

private

Definition at line 144 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::depthAcquisitionTriggerService

private

wrapper for REST-API calls relating to rc_visard's dynamics interface

Definition at line 160 of file device_nodelet.h.

std::string rc::DeviceNodelet::dev_ipaddr

private

Definition at line 185 of file device_nodelet.h.

std::string rc::DeviceNodelet::dev_macaddr

private

Definition at line 185 of file device_nodelet.h.

std::string rc::DeviceNodelet::dev_serialno

private

Definition at line 185 of file device_nodelet.h.

bool rc::DeviceNodelet::dev_supports_chunk_data

private

Definition at line 133 of file device_nodelet.h.

bool rc::DeviceNodelet::dev_supports_color

private

Definition at line 130 of file device_nodelet.h.

bool rc::DeviceNodelet::dev_supports_depth_acquisition_trigger

private

Definition at line 132 of file device_nodelet.h.

bool rc::DeviceNodelet::dev_supports_double_shot

private

Definition at line 134 of file device_nodelet.h.

bool rc::DeviceNodelet::dev_supports_gain

private

Definition at line 129 of file device_nodelet.h.

bool rc::DeviceNodelet::dev_supports_wb

private

Definition at line 131 of file device_nodelet.h.

std::string rc::DeviceNodelet::dev_version

private

Definition at line 185 of file device_nodelet.h.

rc::dynamics::RemoteInterface::Ptr rc::DeviceNodelet::dynamicsInterface

private

Definition at line 161 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsResetSlamService

private

Definition at line 168 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsRestartService

private

Definition at line 164 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsRestartSlamService

private

Definition at line 165 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsStartService

private

Definition at line 162 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsStartSlamService

private

Definition at line 163 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsStopService

private

Definition at line 166 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::dynamicsStopSlamService

private

Definition at line 167 of file device_nodelet.h.

ThreadedStream::Manager::Ptr rc::DeviceNodelet::dynamicsStreams

private

Definition at line 157 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::getSlamTrajectoryService

private

Definition at line 169 of file device_nodelet.h.

std::string rc::DeviceNodelet::gev_packet_size

private

Definition at line 185 of file device_nodelet.h.

std::string rc::DeviceNodelet::gev_userid

private

Definition at line 185 of file device_nodelet.h.

std::atomic_bool rc::DeviceNodelet::imageRequested

private

Definition at line 148 of file device_nodelet.h.

std::atomic_bool rc::DeviceNodelet::imageSuccess

private

Definition at line 148 of file device_nodelet.h.

std::thread rc::DeviceNodelet::imageThread

private

Definition at line 147 of file device_nodelet.h.

bool rc::DeviceNodelet::iocontrol_avail

private

Definition at line 143 of file device_nodelet.h.

std::atomic_uint_least32_t rc::DeviceNodelet::level

private

Definition at line 145 of file device_nodelet.h.

int rc::DeviceNodelet::maxNumRecoveryTrials

private

Definition at line 154 of file device_nodelet.h.

boost::recursive_mutex rc::DeviceNodelet::mtx

private

Definition at line 141 of file device_nodelet.h.

bool rc::DeviceNodelet::perform_depth_acquisition_trigger

private

Definition at line 136 of file device_nodelet.h.

std::shared_ptr<rcg::Device> rc::DeviceNodelet::rcgdev

private

Definition at line 138 of file device_nodelet.h.

std::shared_ptr<GenApi::CNodeMapRef> rc::DeviceNodelet::rcgnodemap

private

Definition at line 139 of file device_nodelet.h.

dynamic_reconfigure::Server<rc_visard_driver::rc_visard_driverConfig>* rc::DeviceNodelet::reconfig

private

Definition at line 127 of file device_nodelet.h.

std::thread rc::DeviceNodelet::recoverThread

private

Definition at line 150 of file device_nodelet.h.

bool rc::DeviceNodelet::recoveryRequested

private

Definition at line 152 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::slamLoadMapService

private

Definition at line 171 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::slamRemoveMapService

private

Definition at line 172 of file device_nodelet.h.

ros::ServiceServer rc::DeviceNodelet::slamSaveMapService

private

Definition at line 170 of file device_nodelet.h.

bool rc::DeviceNodelet::stereo_plus_avail

private

Definition at line 142 of file device_nodelet.h.

std::atomic_bool rc::DeviceNodelet::stopImageThread

private

Definition at line 148 of file device_nodelet.h.

std::atomic_bool rc::DeviceNodelet::stopRecoverThread

private

Definition at line 151 of file device_nodelet.h.

bool rc::DeviceNodelet::tfEnabled

private

should poses published also via tf?

Definition at line 181 of file device_nodelet.h.

std::string rc::DeviceNodelet::tfPrefix

private

all frame names must be prefixed when using more than one rc_visard

Definition at line 178 of file device_nodelet.h.

tf2_ros::StaticTransformBroadcaster rc::DeviceNodelet::tfStaticBroadcaster

private

Definition at line 174 of file device_nodelet.h.

unsigned int rc::DeviceNodelet::totalCompleteBuffers

private

Definition at line 186 of file device_nodelet.h.

unsigned int rc::DeviceNodelet::totalConnectionLosses

private

Definition at line 186 of file device_nodelet.h.

unsigned int rc::DeviceNodelet::totalImageReceiveTimeouts

private

Definition at line 186 of file device_nodelet.h.

unsigned int rc::DeviceNodelet::totalIncompleteBuffers

private

Definition at line 186 of file device_nodelet.h.

ros::Publisher rc::DeviceNodelet::trajPublisher

private

Definition at line 173 of file device_nodelet.h.

diagnostic_updater::Updater rc::DeviceNodelet::updater

private

diagnostics publishing

Definition at line 184 of file device_nodelet.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation