MainNode Class Reference

Public Member Functions
void	cmdvel_callback (const geometry_msgs::Twist &twist_msg)
void	cmdvel_loop ()
void	cmdvel_run ()
void	cmdvel_setup ()
	MainNode ()
void	odom_loop ()
void	odom_ls_run ()
void	odom_ms_run ()
void	odom_publish ()
void	odom_setup ()
void	odom_stream ()
int	run ()

Protected Attributes
std::string	base_frame
int	baud
ros::Subscriber	cmdvel_sub
std::string	cmdvel_topic
serial::Serial	controller
uint32_t	current_last_time
float	current_left
roboteq_diff_msgs::Duplex	current_msg
ros::Publisher	current_pub
float	current_right
int	encoder_cpr
int	encoder_ppr
float	energy
std_msgs::Float32	energy_msg
ros::Publisher	energy_pub
uint32_t	hstimer
uint32_t	lstimer
double	max_amps
int	max_rpm
uint32_t	mstimer
ros::NodeHandle	nh
tf::TransformBroadcaster	odom_broadcaster
char	odom_buf [24]
int32_t	odom_encoder_left
int32_t	odom_encoder_right
char	odom_encoder_toss
std::string	odom_frame
int	odom_idx
uint32_t	odom_last_time
float	odom_last_x
float	odom_last_y
float	odom_last_yaw
nav_msgs::Odometry	odom_msg
ros::Publisher	odom_pub
std::string	odom_topic
float	odom_x
float	odom_y
float	odom_yaw
bool	open_loop
std::string	port
bool	pub_odom_tf
uint32_t	starttime
float	temperature
std_msgs::Float32	temperature_msg
ros::Publisher	temperature_pub
geometry_msgs::TransformStamped	tf_msg
double	track_width
float	voltage
std_msgs::Float32	voltage_msg
ros::Publisher	voltage_pub
double	wheel_circumference

Detailed Description

Definition at line 75 of file driver.cpp.

Constructor & Destructor Documentation

MainNode::MainNode

(

)

Definition at line 187 of file driver.cpp.

Member Function Documentation

void MainNode::cmdvel_callback

(

const geometry_msgs::Twist &

twist_msg

)

Definition at line 260 of file driver.cpp.

void MainNode::cmdvel_loop

(

)

Definition at line 386 of file driver.cpp.

void MainNode::cmdvel_run

(

)

Definition at line 390 of file driver.cpp.

void MainNode::cmdvel_setup

(

)

Definition at line 304 of file driver.cpp.

void MainNode::odom_loop

(

)

Definition at line 558 of file driver.cpp.

void MainNode::odom_ls_run

(

)

Definition at line 694 of file driver.cpp.

void MainNode::odom_ms_run

(

)

Definition at line 681 of file driver.cpp.

void MainNode::odom_publish

(

)

Definition at line 714 of file driver.cpp.

void MainNode::odom_setup

(

)

Definition at line 464 of file driver.cpp.

void MainNode::odom_stream

(

)

Definition at line 536 of file driver.cpp.

int MainNode::run

(

)

Definition at line 808 of file driver.cpp.

Member Data Documentation

std::string MainNode::base_frame

protected

Definition at line 172 of file driver.cpp.

int MainNode::baud

protected

Definition at line 176 of file driver.cpp.

ros::Subscriber MainNode::cmdvel_sub

protected

Definition at line 120 of file driver.cpp.

std::string MainNode::cmdvel_topic

protected

Definition at line 173 of file driver.cpp.

serial::Serial MainNode::controller

protected

Definition at line 110 of file driver.cpp.

uint32_t MainNode::current_last_time

protected

Definition at line 166 of file driver.cpp.

float MainNode::current_left

protected

Definition at line 163 of file driver.cpp.

roboteq_diff_msgs::Duplex MainNode::current_msg

protected

Definition at line 133 of file driver.cpp.

ros::Publisher MainNode::current_pub

protected

Definition at line 134 of file driver.cpp.

float MainNode::current_right

protected

Definition at line 162 of file driver.cpp.

int MainNode::encoder_cpr

protected

Definition at line 181 of file driver.cpp.

int MainNode::encoder_ppr

protected

Definition at line 180 of file driver.cpp.

float MainNode::energy

protected

Definition at line 164 of file driver.cpp.

std_msgs::Float32 MainNode::energy_msg

protected

Definition at line 135 of file driver.cpp.

ros::Publisher MainNode::energy_pub

protected

Definition at line 136 of file driver.cpp.

uint32_t MainNode::hstimer

protected

Definition at line 113 of file driver.cpp.

uint32_t MainNode::lstimer

protected

Definition at line 115 of file driver.cpp.

double MainNode::max_amps

protected

Definition at line 182 of file driver.cpp.

int MainNode::max_rpm

protected

Definition at line 183 of file driver.cpp.

uint32_t MainNode::mstimer

protected

Definition at line 114 of file driver.cpp.

ros::NodeHandle MainNode::nh

protected

Definition at line 108 of file driver.cpp.

tf::TransformBroadcaster MainNode::odom_broadcaster

protected

Definition at line 126 of file driver.cpp.

char MainNode::odom_buf[24]

protected

Definition at line 143 of file driver.cpp.

int32_t MainNode::odom_encoder_left

protected

Definition at line 148 of file driver.cpp.

int32_t MainNode::odom_encoder_right

protected

Definition at line 149 of file driver.cpp.

char MainNode::odom_encoder_toss

protected

Definition at line 146 of file driver.cpp.

std::string MainNode::odom_frame

protected

Definition at line 171 of file driver.cpp.

int MainNode::odom_idx

protected

Definition at line 142 of file driver.cpp.

uint32_t MainNode::odom_last_time

protected

Definition at line 158 of file driver.cpp.

float MainNode::odom_last_x

protected

Definition at line 154 of file driver.cpp.

float MainNode::odom_last_y

protected

Definition at line 155 of file driver.cpp.

float MainNode::odom_last_yaw

protected

Definition at line 156 of file driver.cpp.

nav_msgs::Odometry MainNode::odom_msg

protected

Definition at line 127 of file driver.cpp.

ros::Publisher MainNode::odom_pub

protected

Definition at line 128 of file driver.cpp.

std::string MainNode::odom_topic

protected

Definition at line 174 of file driver.cpp.

float MainNode::odom_x

protected

Definition at line 151 of file driver.cpp.

float MainNode::odom_y

protected

Definition at line 152 of file driver.cpp.

float MainNode::odom_yaw

protected

Definition at line 153 of file driver.cpp.

bool MainNode::open_loop

protected

Definition at line 177 of file driver.cpp.

std::string MainNode::port

protected

Definition at line 175 of file driver.cpp.

bool MainNode::pub_odom_tf

protected

Definition at line 170 of file driver.cpp.

uint32_t MainNode::starttime

protected

Definition at line 112 of file driver.cpp.

float MainNode::temperature

protected

Definition at line 165 of file driver.cpp.

std_msgs::Float32 MainNode::temperature_msg

protected

Definition at line 137 of file driver.cpp.

ros::Publisher MainNode::temperature_pub

protected

Definition at line 138 of file driver.cpp.

geometry_msgs::TransformStamped MainNode::tf_msg

protected

Definition at line 125 of file driver.cpp.

double MainNode::track_width

protected

Definition at line 179 of file driver.cpp.

float MainNode::voltage

protected

Definition at line 161 of file driver.cpp.

std_msgs::Float32 MainNode::voltage_msg

protected

Definition at line 131 of file driver.cpp.

ros::Publisher MainNode::voltage_pub

protected

Definition at line 132 of file driver.cpp.

double MainNode::wheel_circumference

protected

Definition at line 178 of file driver.cpp.

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

• driver.cpp