RosAriaNode Class Reference

Node that interfaces between ROS and mobile robot base features via ARIA library. More...

Public Member Functions
void	cmdvel_cb (const geometry_msgs::TwistConstPtr &)
void	cmdvel_watchdog (const ros::TimerEvent &event)
void	dynamic_reconfigureCB (rosaria::RosAriaConfig &config, uint32_t level)
void	publish ()
void	readParameters ()
	RosAriaNode (ros::NodeHandle n)
int	Setup ()
void	sonarConnectCb ()
	Called when another node subscribes or unsubscribes from sonar topic. More...
void	spin ()
virtual	~RosAriaNode ()

Protected Member Functions
bool	disable_motors_cb (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	enable_motors_cb (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)

Protected Attributes
std::string	aria_log_filename
rosaria::BumperState	bumpers
ros::Publisher	bumpers_pub
ros::Subscriber	cmdvel_sub
ros::Duration	cmdvel_timeout
ros::Timer	cmdvel_watchdog_timer
ArRobotConnector *	conn
bool	debug_aria
ros::ServiceServer	disable_srv
int	DriftFactor
dynamic_reconfigure::Server< rosaria::RosAriaConfig > *	dynamic_reconfigure_server
ros::ServiceServer	enable_srv
std::string	frame_id_base_link
std::string	frame_id_bumper
std::string	frame_id_odom
std::string	frame_id_sonar
ArLaserConnector *	laserConnector
std_msgs::Bool	motors_state
ros::Publisher	motors_state_pub
ArFunctorC< RosAriaNode >	myPublishCB
ros::NodeHandle	n
tf::TransformBroadcaster	odom_broadcaster
geometry_msgs::TransformStamped	odom_trans
ArPose	pos
ros::Publisher	pose_pub
nav_msgs::Odometry	position
bool	publish_aria_lasers
bool	publish_sonar
bool	publish_sonar_pointcloud2
bool	published_motors_state
std_msgs::Int8	recharge_state
ros::Publisher	recharge_state_pub
int	RevCount
ArRobot *	robot
int	serial_baud
std::string	serial_port
bool	sonar_enabled
ros::Publisher	sonar_pointcloud2_pub
ros::Publisher	sonar_pub
ros::Publisher	state_of_charge_pub
int	TicksMM
ros::Time	veltime
ros::Publisher	voltage_pub

Detailed Description

Node that interfaces between ROS and mobile robot base features via ARIA library.

RosAriaNode will use ARIA to connect to a robot controller (configure via ~port parameter), either direct serial connection or over the network. It runs ARIA's robot communications cycle in a background thread, and as part of that cycle (a sensor interpretation task which calls RosAriaNode::publish()), it publishes various topics with newly received robot data. It also sends velocity commands to the robot when received in the cmd_vel topic, and handles dynamic_reconfigure and Service requests.

For more information about ARIA see http://robots.mobilerobots.com/wiki/Aria.

RosAria uses the roscpp client library, see http://www.ros.org/wiki/roscpp for information, tutorials and documentation.

Definition at line 52 of file RosAria.cpp.

Constructor & Destructor Documentation

RosAriaNode::RosAriaNode

(

ros::NodeHandle

n

)

Definition at line 281 of file RosAria.cpp.

RosAriaNode::~RosAriaNode ( )

virtual

Definition at line 344 of file RosAria.cpp.

Member Function Documentation

void RosAriaNode::cmdvel_cb

(

const geometry_msgs::TwistConstPtr &

msg

)

Definition at line 720 of file RosAria.cpp.

void RosAriaNode::cmdvel_watchdog

(

const ros::TimerEvent &

event

)

Definition at line 735 of file RosAria.cpp.

bool RosAriaNode::disable_motors_cb ( std_srvs::Empty::Request &  request, std_srvs::Empty::Response &  response  )

protected

Definition at line 709 of file RosAria.cpp.

void RosAriaNode::dynamic_reconfigureCB	(	rosaria::RosAriaConfig &	config,
		uint32_t	level
	)

Definition at line 185 of file RosAria.cpp.

bool RosAriaNode::enable_motors_cb ( std_srvs::Empty::Request &  request, std_srvs::Empty::Response &  response  )

protected

Definition at line 697 of file RosAria.cpp.

void RosAriaNode::publish

(

)

Definition at line 534 of file RosAria.cpp.

void RosAriaNode::readParameters

(

)

Definition at line 140 of file RosAria.cpp.

int RosAriaNode::Setup

(

)

Definition at line 355 of file RosAria.cpp.

void RosAriaNode::sonarConnectCb

(

)

Called when another node subscribes or unsubscribes from sonar topic.

Definition at line 263 of file RosAria.cpp.

void RosAriaNode::spin

(

)

Definition at line 529 of file RosAria.cpp.

Member Data Documentation

std::string RosAriaNode::aria_log_filename

protected

Definition at line 128 of file RosAria.cpp.

rosaria::BumperState RosAriaNode::bumpers

protected

Definition at line 105 of file RosAria.cpp.

ros::Publisher RosAriaNode::bumpers_pub

protected

Definition at line 73 of file RosAria.cpp.

ros::Subscriber RosAriaNode::cmdvel_sub

protected

Definition at line 87 of file RosAria.cpp.

ros::Duration RosAriaNode::cmdvel_timeout

protected

Definition at line 96 of file RosAria.cpp.

ros::Timer RosAriaNode::cmdvel_watchdog_timer

protected

Definition at line 95 of file RosAria.cpp.

ArRobotConnector* RosAriaNode::conn

protected

Definition at line 101 of file RosAria.cpp.

bool RosAriaNode::debug_aria

protected

Definition at line 127 of file RosAria.cpp.

ros::ServiceServer RosAriaNode::disable_srv

protected

Definition at line 90 of file RosAria.cpp.

int RosAriaNode::DriftFactor

protected

Definition at line 131 of file RosAria.cpp.

dynamic_reconfigure::Server<rosaria::RosAriaConfig>* RosAriaNode::dynamic_reconfigure_server

protected

Definition at line 134 of file RosAria.cpp.

ros::ServiceServer RosAriaNode::enable_srv

protected

Definition at line 89 of file RosAria.cpp.

std::string RosAriaNode::frame_id_base_link

protected

Definition at line 115 of file RosAria.cpp.

std::string RosAriaNode::frame_id_bumper

protected

Definition at line 116 of file RosAria.cpp.

std::string RosAriaNode::frame_id_odom

protected

Definition at line 114 of file RosAria.cpp.

std::string RosAriaNode::frame_id_sonar

protected

Definition at line 117 of file RosAria.cpp.

ArLaserConnector* RosAriaNode::laserConnector

protected

Definition at line 102 of file RosAria.cpp.

std_msgs::Bool RosAriaNode::motors_state

protected

Definition at line 84 of file RosAria.cpp.

ros::Publisher RosAriaNode::motors_state_pub

protected

Definition at line 83 of file RosAria.cpp.

ArFunctorC<RosAriaNode> RosAriaNode::myPublishCB

protected

Definition at line 107 of file RosAria.cpp.

ros::NodeHandle RosAriaNode::n

protected

Definition at line 71 of file RosAria.cpp.

tf::TransformBroadcaster RosAriaNode::odom_broadcaster

protected

Definition at line 111 of file RosAria.cpp.

geometry_msgs::TransformStamped RosAriaNode::odom_trans

protected

Definition at line 112 of file RosAria.cpp.

ArPose RosAriaNode::pos

protected

Definition at line 106 of file RosAria.cpp.

ros::Publisher RosAriaNode::pose_pub

protected

Definition at line 72 of file RosAria.cpp.

nav_msgs::Odometry RosAriaNode::position

protected

Definition at line 104 of file RosAria.cpp.

bool RosAriaNode::publish_aria_lasers

protected

Definition at line 137 of file RosAria.cpp.

bool RosAriaNode::publish_sonar

protected

Definition at line 123 of file RosAria.cpp.

bool RosAriaNode::publish_sonar_pointcloud2

protected

Definition at line 124 of file RosAria.cpp.

bool RosAriaNode::published_motors_state

protected

Definition at line 85 of file RosAria.cpp.

std_msgs::Int8 RosAriaNode::recharge_state

protected

Definition at line 79 of file RosAria.cpp.

ros::Publisher RosAriaNode::recharge_state_pub

protected

Definition at line 78 of file RosAria.cpp.

int RosAriaNode::RevCount

protected

Definition at line 131 of file RosAria.cpp.

ArRobot* RosAriaNode::robot

protected

Definition at line 103 of file RosAria.cpp.

int RosAriaNode::serial_baud

protected

Definition at line 99 of file RosAria.cpp.

std::string RosAriaNode::serial_port

protected

Definition at line 98 of file RosAria.cpp.

bool RosAriaNode::sonar_enabled

protected

Definition at line 120 of file RosAria.cpp.

ros::Publisher RosAriaNode::sonar_pointcloud2_pub

protected

Definition at line 75 of file RosAria.cpp.

ros::Publisher RosAriaNode::sonar_pub

protected

Definition at line 74 of file RosAria.cpp.

ros::Publisher RosAriaNode::state_of_charge_pub

protected

Definition at line 81 of file RosAria.cpp.

int RosAriaNode::TicksMM

protected

Definition at line 131 of file RosAria.cpp.

ros::Time RosAriaNode::veltime

protected

Definition at line 94 of file RosAria.cpp.

ros::Publisher RosAriaNode::voltage_pub

protected

Definition at line 76 of file RosAria.cpp.

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

• RosAria.cpp