#include <roch_hardware.h>

Inheritance diagram for roch_base::rochHardware:

Classes
struct	CliffEvent

struct	Joint

struct	PSDEvent

struct	SixAxisGyro

struct	ThreeAxisGyro

struct	UltEvent

Public Member Functions
void	getDifferentControlConstantData ()

void	getPlatAccData ()

void	getPlatformName ()

void	getRangefinderData ()

void	publishRawData ()

void	reportLoopDuration (const ros::Duration &duration)

	rochHardware (ros::NodeHandle nh, ros::NodeHandle private_nh, double target_control_freq)

void	showRawData ()

void	updateDiagnostics ()

void	updateJointsFromHardware ()

void	writeCommandsToHardware ()

void	writeOverallSpeedCommandsToHardware ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Public Attributes
double	angular_velocity [3]

double	angular_velocity_covariance [9]

hardware_interface::ImuSensorHandle::Data	imuMsgData

double	linear_acceleration [3]

double	linear_acceleration_covariance [9]

double	orientation [4]

double	orientation_covariance [9]

Private Member Functions
double	angularToLinear (const double &angle) const

void	initializeDiagnostics ()

void	limitDifferentialSpeed (double &travel_speed_left, double &travel_speed_right)

double	linearToAngular (const double &travel) const

void	publishCliffEvent (const double &left, const double &right)

void	publishPSDEvent (const double &left, const double &center, const double &right)

void	publishSensorState ()

void	publishUltEvent (const double &left, const double &center, const double &right)

void	publishWheelEvent (const float &leftOffset, const float &rightOffset)

void	registerControlInterfaces ()

void	resetTravelOffset ()

Private Attributes
PSDEvent	centerpsdevent

UltEvent	centerultevent

ros::Publisher	cliff_event_publisher_

double	cliff_height_

std::vector< double >	cliffbottom

ros::Publisher	diagnostic_publisher_

diagnostic_updater::Updater	diagnostic_updater_

std::string	gyro_link_frame_

struct roch_base::rochHardware::ThreeAxisGyro	gyroData

hardware_interface::ImuSensorInterface	imu_sensor_interface_

hardware_interface::JointStateInterface	joint_state_interface_

struct roch_base::rochHardware::Joint	joints_ [2]

CliffEvent	leftcliffevent

PSDEvent	leftpsdevent

UltEvent	leftultevent

double	max_accel_

double	max_speed_

ros::NodeHandle	nh_

double	polling_timeout_

rochHardwareDiagnosticTask< sawyer::DataPowerSystem >	power_status_task_

ros::NodeHandle	private_nh_

ros::Publisher	psd_event_publisher_

double	PSD_length_

std::vector< double >	psdbottom

ros::Publisher	raw_data_command_publisher_

CliffEvent	rightcliffevent

PSDEvent	rightpsdevent

UltEvent	rightultevent

roch_msgs::RochStatus	roch_status_msg_

rochHardwareDiagnosticTask< sawyer::DataSafetySystemStatus >	safety_status_task_

ros::Publisher	sensor_state_publisher_

struct roch_base::rochHardware::SixAxisGyro	sixGyro

rochSoftwareDiagnosticTask	software_status_task_

rochHardwareDiagnosticTask< sawyer::DataSystemStatus >	system_status_task_

ros::Publisher	ult_event_publisher_

double	ult_length_

std::vector< double >	ultbottom

hardware_interface::VelocityJointInterface	velocity_joint_interface_

double	wheel_diameter_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Class representing roch hardware, allows for ros_control to modify internal state via joint interfaces

Definition at line 63 of file roch_hardware.h.

Constructor & Destructor Documentation

roch_base::rochHardware::rochHardware	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh,
		double	target_control_freq
	)

Initialize roch hardware

Definition at line 47 of file roch_hardware.cpp.

Member Function Documentation

double roch_base::rochHardware::angularToLinear ( const double & angle ) const

private

RobotHW provides velocity command in rad/s, roch needs m/s,

Definition at line 672 of file roch_hardware.cpp.

void roch_base::rochHardware::getDifferentControlConstantData ( )

Definition at line 188 of file roch_hardware.cpp.

void roch_base::rochHardware::getPlatAccData ( )

Definition at line 154 of file roch_hardware.cpp.

void roch_base::rochHardware::getPlatformName ( )

Definition at line 176 of file roch_hardware.cpp.

void roch_base::rochHardware::getRangefinderData ( )

Definition at line 128 of file roch_hardware.cpp.

void roch_base::rochHardware::initializeDiagnostics ( )

private

Register diagnostic tasks with updater class

Definition at line 206 of file roch_hardware.cpp.

void roch_base::rochHardware::limitDifferentialSpeed	(	double &	diff_speed_left,
		double &	diff_speed_right
	)

private

Scale left and right speed outputs to maintain ros_control's desired trajectory without saturating the outputs

Definition at line 650 of file roch_hardware.cpp.

double roch_base::rochHardware::linearToAngular ( const double & travel ) const

private

roch reports travel in metres, need radians for ros_control RobotHW

Definition at line 664 of file roch_hardware.cpp.

void roch_base::rochHardware::publishCliffEvent	(	const double &	left,
		const double &	right
	)

private

Definition at line 461 of file roch_hardware.cpp.

void roch_base::rochHardware::publishPSDEvent	(	const double &	left,
		const double &	center,
		const double &	right
	)

private

Definition at line 587 of file roch_hardware.cpp.

void roch_base::rochHardware::publishRawData ( )

Definition at line 442 of file roch_hardware.cpp.

void roch_base::rochHardware::publishSensorState ( )

private

Definition at line 553 of file roch_hardware.cpp.

void roch_base::rochHardware::publishUltEvent	(	const double &	left,
		const double &	center,
		const double &	right
	)

private

Definition at line 498 of file roch_hardware.cpp.

void roch_base::rochHardware::publishWheelEvent	(	const float &	leftOffset,
		const float &	rightOffset
	)

private

void roch_base::rochHardware::registerControlInterfaces ( )

private

Register interfaces with the RobotHW interface manager, allowing ros_control operation

Definition at line 233 of file roch_hardware.cpp.

void roch_base::rochHardware::reportLoopDuration ( const ros::Duration & duration )

Update diagnostics with control loop timing information

Definition at line 642 of file roch_hardware.cpp.

void roch_base::rochHardware::resetTravelOffset ( )

private

Get current encoder travel offsets from MCU and bias future encoder readings against them

Definition at line 78 of file roch_hardware.cpp.

void roch_base::rochHardware::showRawData ( )

void roch_base::rochHardware::updateDiagnostics ( )

External hook to trigger diagnostic update

Definition at line 313 of file roch_hardware.cpp.

void roch_base::rochHardware::updateJointsFromHardware ( )

Pull latest speed and travel measurements from MCU, and store in joint structure for ros_control

Definition at line 324 of file roch_hardware.cpp.

void roch_base::rochHardware::writeCommandsToHardware ( )

Get latest velocity commands from ros_control via joint structure, and send to MCU

Definition at line 414 of file roch_hardware.cpp.

void roch_base::rochHardware::writeOverallSpeedCommandsToHardware ( )

Get latest velocity commands from ros_control via joint structure, and send overall speed to MCU

Definition at line 432 of file roch_hardware.cpp.

Member Data Documentation

double roch_base::rochHardware::angular_velocity[3]

Definition at line 99 of file roch_hardware.h.

double roch_base::rochHardware::angular_velocity_covariance[9]

Definition at line 97 of file roch_hardware.h.

PSDEvent roch_base::rochHardware::centerpsdevent

private

Definition at line 247 of file roch_hardware.h.

UltEvent roch_base::rochHardware::centerultevent

private

Definition at line 245 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::cliff_event_publisher_

private

Definition at line 135 of file roch_hardware.h.

double roch_base::rochHardware::cliff_height_

private

Definition at line 149 of file roch_hardware.h.

std::vector<double> roch_base::rochHardware::cliffbottom

private

Definition at line 156 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::diagnostic_publisher_

private

Definition at line 133 of file roch_hardware.h.

diagnostic_updater::Updater roch_base::rochHardware::diagnostic_updater_

private

Definition at line 138 of file roch_hardware.h.

std::string roch_base::rochHardware::gyro_link_frame_

private

Definition at line 155 of file roch_hardware.h.

struct roch_base::rochHardware::ThreeAxisGyro roch_base::rochHardware::gyroData

private

hardware_interface::ImuSensorInterface roch_base::rochHardware::imu_sensor_interface_

private

Definition at line 130 of file roch_hardware.h.

hardware_interface::ImuSensorHandle::Data roch_base::rochHardware::imuMsgData

Definition at line 94 of file roch_hardware.h.

hardware_interface::JointStateInterface roch_base::rochHardware::joint_state_interface_

private

Definition at line 128 of file roch_hardware.h.

struct roch_base::rochHardware::Joint roch_base::rochHardware::joints_[2]

private

CliffEvent roch_base::rochHardware::leftcliffevent

private

Definition at line 243 of file roch_hardware.h.

PSDEvent roch_base::rochHardware::leftpsdevent

private

Definition at line 247 of file roch_hardware.h.

UltEvent roch_base::rochHardware::leftultevent

private

Definition at line 245 of file roch_hardware.h.

double roch_base::rochHardware::linear_acceleration[3]

Definition at line 100 of file roch_hardware.h.

double roch_base::rochHardware::linear_acceleration_covariance[9]

Definition at line 98 of file roch_hardware.h.

double roch_base::rochHardware::max_accel_

private

Definition at line 145 of file roch_hardware.h.

double roch_base::rochHardware::max_speed_

private

Definition at line 145 of file roch_hardware.h.

ros::NodeHandle roch_base::rochHardware::nh_

private

Definition at line 125 of file roch_hardware.h.

double roch_base::rochHardware::orientation[4]

Definition at line 95 of file roch_hardware.h.

double roch_base::rochHardware::orientation_covariance[9]

Definition at line 96 of file roch_hardware.h.

double roch_base::rochHardware::polling_timeout_

private

Definition at line 147 of file roch_hardware.h.

rochHardwareDiagnosticTask<sawyer::DataPowerSystem> roch_base::rochHardware::power_status_task_

private

Definition at line 140 of file roch_hardware.h.

ros::NodeHandle roch_base::rochHardware::private_nh_

private

Definition at line 125 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::psd_event_publisher_

private

Definition at line 135 of file roch_hardware.h.

double roch_base::rochHardware::PSD_length_

private

Definition at line 154 of file roch_hardware.h.

std::vector<double> roch_base::rochHardware::psdbottom

private

Definition at line 158 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::raw_data_command_publisher_

private

Definition at line 134 of file roch_hardware.h.

CliffEvent roch_base::rochHardware::rightcliffevent

private

Definition at line 243 of file roch_hardware.h.

PSDEvent roch_base::rochHardware::rightpsdevent

private

Definition at line 247 of file roch_hardware.h.

UltEvent roch_base::rochHardware::rightultevent

private

Definition at line 245 of file roch_hardware.h.

roch_msgs::RochStatus roch_base::rochHardware::roch_status_msg_

private

Definition at line 137 of file roch_hardware.h.

rochHardwareDiagnosticTask<sawyer::DataSafetySystemStatus> roch_base::rochHardware::safety_status_task_

private

Definition at line 141 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::sensor_state_publisher_

private

Definition at line 136 of file roch_hardware.h.

struct roch_base::rochHardware::SixAxisGyro roch_base::rochHardware::sixGyro

private

rochSoftwareDiagnosticTask roch_base::rochHardware::software_status_task_

private

Definition at line 142 of file roch_hardware.h.

rochHardwareDiagnosticTask<sawyer::DataSystemStatus> roch_base::rochHardware::system_status_task_

private

Definition at line 139 of file roch_hardware.h.

ros::Publisher roch_base::rochHardware::ult_event_publisher_

private

Definition at line 135 of file roch_hardware.h.

double roch_base::rochHardware::ult_length_

private

Definition at line 152 of file roch_hardware.h.

std::vector<double> roch_base::rochHardware::ultbottom

private

Definition at line 157 of file roch_hardware.h.

hardware_interface::VelocityJointInterface roch_base::rochHardware::velocity_joint_interface_

private

Definition at line 129 of file roch_hardware.h.

double roch_base::rochHardware::wheel_diameter_

private

Definition at line 145 of file roch_hardware.h.

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

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation