The SickSafetyscannersRos class. More...

#include <SickSafetyscannersRos.h>

Public Member Functions
	SickSafetyscannersRos ()
	Constructor of the SickSafetyscannersRos. More...

virtual	~SickSafetyscannersRos ()
	~SickSafetyscannersRos Destructor if the SickSafetyscanners ROS More...

Private Member Functions
sick_safetyscanners::ApplicationDataMsg	createApplicationDataMessage (const sick::datastructure::Data &data)

sick_safetyscanners::ApplicationInputsMsg	createApplicationInputsMessage (const sick::datastructure::Data &data)

sick_safetyscanners::ApplicationOutputsMsg	createApplicationOutputsMessage (const sick::datastructure::Data &data)

sick_safetyscanners::DataHeaderMsg	createDataHeaderMessage (const sick::datastructure::Data &data)

sick_safetyscanners::DerivedValuesMsg	createDerivedValuesMessage (const sick::datastructure::Data &data)

sick_safetyscanners::ExtendedLaserScanMsg	createExtendedLaserScanMessage (const sick::datastructure::Data &data)

sick_safetyscanners::GeneralSystemStateMsg	createGeneralSystemStateMessage (const sick::datastructure::Data &data)

sick_safetyscanners::IntrusionDataMsg	createIntrusionDataMessage (const sick::datastructure::Data &data)

std::vector< sick_safetyscanners::IntrusionDatumMsg >	createIntrusionDatumMessageVector (const sick::datastructure::Data &data)

sensor_msgs::LaserScan	createLaserScanMessage (const sick::datastructure::Data &data)

sick_safetyscanners::MeasurementDataMsg	createMeasurementDataMessage (const sick::datastructure::Data &data)

sick_safetyscanners::OutputPathsMsg	createOutputPathsMessage (const sick::datastructure::Data &data)

sick_safetyscanners::RawMicroScanDataMsg	createRawDataMessage (const sick::datastructure::Data &data)

std::vector< sick_safetyscanners::ScanPointMsg >	createScanPointMessageVector (const sick::datastructure::Data &data)

bool	getFieldData (sick_safetyscanners::FieldData::Request &req, sick_safetyscanners::FieldData::Response &res)

std::vector< bool >	getMedianReflectors (const std::vector< sick::datastructure::ScanPoint > scan_points)

bool	isInitialised ()

bool	readParameters ()
	Reads and verifies the ROS parameters. More...

void	readPersistentConfig ()

void	readTypeCodeSettings ()

void	receivedUDPPacket (const datastructure::Data &data)
	Function which is called when a new complete UDP Packet is received. More...

void	reconfigureCallback (const sick_safetyscanners::SickSafetyscannersConfigurationConfig &config, const uint32_t &level)
	Function which is triggered when a dynamic reconfiguration is performed. More...

void	sensorDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &diagnostic_status)

Private Attributes
float	m_angle_offset

sick::datastructure::CommSettings	m_communication_settings

std::shared_ptr< sick::SickSafetyscanners >	m_device

std::shared_ptr< DiagnosedLaserScanPublisher >	m_diagnosed_laser_scan_publisher

diagnostic_updater::Updater	m_diagnostic_updater

dynamic_reconfigure::Server< sick_safetyscanners::SickSafetyscannersConfigurationConfig >	m_dynamic_reconfiguration_server

double	m_expected_frequency = 20.0

ros::Publisher	m_extended_laser_scan_publisher

ros::ServiceServer	m_field_service_server

std::string	m_frame_id

double	m_frequency_tolerance = 0.1

bool	m_initialised

boost::asio::ip::address_v4	m_interface_ip

ros::Publisher	m_laser_scan_publisher
	ROS topic publisher. More...

sick_safetyscanners::RawMicroScanDataMsg	m_last_raw_data

double	m_min_intensities = 0.0

ros::NodeHandle	m_nh
	ROS node handle. More...

ros::Publisher	m_output_path_publisher

ros::NodeHandle	m_private_nh
	ROS private node handle. More...

double	m_range_max

double	m_range_min

ros::Publisher	m_raw_data_publisher

double	m_time_offset

double	m_timestamp_max_acceptable = 1.0

double	m_timestamp_min_acceptable = -1.0

bool	m_use_pers_conf

bool	m_use_sick_angles

Detailed Description

The SickSafetyscannersRos class.

Main class for the node to handle the ROS interfacing.

Definition at line 105 of file SickSafetyscannersRos.h.

Constructor & Destructor Documentation

sick::SickSafetyscannersRos::SickSafetyscannersRos ( )

Constructor of the SickSafetyscannersRos.

Constructor of the SickSafetyscannersRos, loads all parameters from the parameter server, initialises the dynamic reconfiguration server. Furthermore initialises the ROS Publishers for the different laserscan outputs.

Definition at line 41 of file SickSafetyscannersRos.cpp.

sick::SickSafetyscannersRos::~SickSafetyscannersRos ( )

virtual

~SickSafetyscannersRos Destructor if the SickSafetyscanners ROS

Definition at line 157 of file SickSafetyscannersRos.cpp.

Member Function Documentation

sick_safetyscanners::ApplicationDataMsg sick::SickSafetyscannersRos::createApplicationDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 677 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::ApplicationInputsMsg sick::SickSafetyscannersRos::createApplicationInputsMessage ( const sick::datastructure::Data & data )

private

Definition at line 690 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::ApplicationOutputsMsg sick::SickSafetyscannersRos::createApplicationOutputsMessage ( const sick::datastructure::Data & data )

private

Definition at line 723 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::DataHeaderMsg sick::SickSafetyscannersRos::createDataHeaderMessage ( const sick::datastructure::Data & data )

private

Definition at line 501 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::DerivedValuesMsg sick::SickSafetyscannersRos::createDerivedValuesMessage ( const sick::datastructure::Data & data )

private

Definition at line 529 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::ExtendedLaserScanMsg sick::SickSafetyscannersRos::createExtendedLaserScanMessage ( const sick::datastructure::Data & data )

private

Definition at line 343 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::GeneralSystemStateMsg sick::SickSafetyscannersRos::createGeneralSystemStateMessage ( const sick::datastructure::Data & data )

private

Definition at line 548 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::IntrusionDataMsg sick::SickSafetyscannersRos::createIntrusionDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 641 of file SickSafetyscannersRos.cpp.

std::vector< sick_safetyscanners::IntrusionDatumMsg > sick::SickSafetyscannersRos::createIntrusionDatumMessageVector ( const sick::datastructure::Data & data )

private

Definition at line 653 of file SickSafetyscannersRos.cpp.

sensor_msgs::LaserScan sick::SickSafetyscannersRos::createLaserScanMessage ( const sick::datastructure::Data & data )

private

Definition at line 394 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::MeasurementDataMsg sick::SickSafetyscannersRos::createMeasurementDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 599 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::OutputPathsMsg sick::SickSafetyscannersRos::createOutputPathsMessage ( const sick::datastructure::Data & data )

private

Definition at line 452 of file SickSafetyscannersRos.cpp.

sick_safetyscanners::RawMicroScanDataMsg sick::SickSafetyscannersRos::createRawDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 486 of file SickSafetyscannersRos.cpp.

std::vector< sick_safetyscanners::ScanPointMsg > sick::SickSafetyscannersRos::createScanPointMessageVector ( const sick::datastructure::Data & data )

private

Definition at line 612 of file SickSafetyscannersRos.cpp.

bool sick::SickSafetyscannersRos::getFieldData	(	sick_safetyscanners::FieldData::Request &	req,
		sick_safetyscanners::FieldData::Response &	res
	)

private

Definition at line 781 of file SickSafetyscannersRos.cpp.

std::vector< bool > sick::SickSafetyscannersRos::getMedianReflectors ( const std::vector< sick::datastructure::ScanPoint > scan_points )

private

Definition at line 368 of file SickSafetyscannersRos.cpp.

bool sick::SickSafetyscannersRos::isInitialised ( )

private

Definition at line 151 of file SickSafetyscannersRos.cpp.

bool sick::SickSafetyscannersRos::readParameters ( )

private

Reads and verifies the ROS parameters.

Returns: True if successful.

Definition at line 159 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::readPersistentConfig ( )

private

Definition at line 108 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::readTypeCodeSettings ( )

private

Definition at line 98 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::receivedUDPPacket ( const datastructure::Data & data )

private

Function which is called when a new complete UDP Packet is received.

Parameters

data,the assortment of all data from the sensor

Definition at line 259 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::reconfigureCallback	(	const sick_safetyscanners::SickSafetyscannersConfigurationConfig &	config,
		const uint32_t &	level
	)

private

Function which is triggered when a dynamic reconfiguration is performed.

Parameters

config	The new configuration to set
level	Level of the new configuration

Definition at line 117 of file SickSafetyscannersRos.cpp.

void sick::SickSafetyscannersRos::sensorDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & diagnostic_status )

private

Definition at line 290 of file SickSafetyscannersRos.cpp.

Member Data Documentation

float sick::SickSafetyscannersRos::m_angle_offset

private

Definition at line 165 of file SickSafetyscannersRos.h.

sick::datastructure::CommSettings sick::SickSafetyscannersRos::m_communication_settings

private

Definition at line 148 of file SickSafetyscannersRos.h.

std::shared_ptr<sick::SickSafetyscanners> sick::SickSafetyscannersRos::m_device

private

Definition at line 146 of file SickSafetyscannersRos.h.

std::shared_ptr<DiagnosedLaserScanPublisher> sick::SickSafetyscannersRos::m_diagnosed_laser_scan_publisher

private

Definition at line 138 of file SickSafetyscannersRos.h.

diagnostic_updater::Updater sick::SickSafetyscannersRos::m_diagnostic_updater

private

Definition at line 137 of file SickSafetyscannersRos.h.

dynamic_reconfigure::Server<sick_safetyscanners::SickSafetyscannersConfigurationConfig> sick::SickSafetyscannersRos::m_dynamic_reconfiguration_server

private

Definition at line 152 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_expected_frequency = 20.0

private

Definition at line 159 of file SickSafetyscannersRos.h.

ros::Publisher sick::SickSafetyscannersRos::m_extended_laser_scan_publisher

private

Definition at line 132 of file SickSafetyscannersRos.h.

ros::ServiceServer sick::SickSafetyscannersRos::m_field_service_server

private

Definition at line 142 of file SickSafetyscannersRos.h.

std::string sick::SickSafetyscannersRos::m_frame_id

private

Definition at line 154 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_frequency_tolerance = 0.1

private

Definition at line 158 of file SickSafetyscannersRos.h.

bool sick::SickSafetyscannersRos::m_initialised

private

Definition at line 144 of file SickSafetyscannersRos.h.

boost::asio::ip::address_v4 sick::SickSafetyscannersRos::m_interface_ip

private

Definition at line 149 of file SickSafetyscannersRos.h.

ros::Publisher sick::SickSafetyscannersRos::m_laser_scan_publisher

private

ROS topic publisher.

Definition at line 131 of file SickSafetyscannersRos.h.

sick_safetyscanners::RawMicroScanDataMsg sick::SickSafetyscannersRos::m_last_raw_data

private

Definition at line 139 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_min_intensities = 0.0

private

min intensities for laser points

Definition at line 162 of file SickSafetyscannersRos.h.

ros::NodeHandle sick::SickSafetyscannersRos::m_nh

private

ROS node handle.

Definition at line 125 of file SickSafetyscannersRos.h.

ros::Publisher sick::SickSafetyscannersRos::m_output_path_publisher

private

Definition at line 134 of file SickSafetyscannersRos.h.

ros::NodeHandle sick::SickSafetyscannersRos::m_private_nh

private

ROS private node handle.

Definition at line 128 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_range_max

private

Definition at line 157 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_range_min

private

Definition at line 156 of file SickSafetyscannersRos.h.

ros::Publisher sick::SickSafetyscannersRos::m_raw_data_publisher

private

Definition at line 133 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_time_offset

private

Definition at line 155 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_timestamp_max_acceptable = 1.0

private

Definition at line 161 of file SickSafetyscannersRos.h.

double sick::SickSafetyscannersRos::m_timestamp_min_acceptable = -1.0

private

Definition at line 160 of file SickSafetyscannersRos.h.

bool sick::SickSafetyscannersRos::m_use_pers_conf

private

Definition at line 166 of file SickSafetyscannersRos.h.

bool sick::SickSafetyscannersRos::m_use_sick_angles

private

Definition at line 164 of file SickSafetyscannersRos.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation