Turtlebot3Drive Class Reference

#include <turtlebot3_drive.h>

Public Member Functions
bool	controlLoop ()
bool	init ()
	Turtlebot3Drive ()
	~Turtlebot3Drive ()

Private Member Functions
void	laserScanMsgCallBack (const sensor_msgs::LaserScan::ConstPtr &msg)
void	odomMsgCallBack (const nav_msgs::Odometry::ConstPtr &msg)
void	updatecommandVelocity (double linear, double angular)

Private Attributes
double	check_forward_dist_
double	check_side_dist_
ros::Publisher	cmd_vel_pub_
double	escape_range_
ros::Subscriber	laser_scan_sub_
ros::NodeHandle	nh_
ros::NodeHandle	nh_priv_
ros::Subscriber	odom_sub_
double	prev_tb3_pose_
double	scan_data_ [3] = {0.0, 0.0, 0.0}
double	tb3_pose_

Detailed Description

Definition at line 43 of file turtlebot3_drive.h.

Constructor & Destructor Documentation

Turtlebot3Drive::Turtlebot3Drive

(

)

Definition at line 21 of file turtlebot3_drive.cpp.

Turtlebot3Drive::~Turtlebot3Drive

(

)

Definition at line 30 of file turtlebot3_drive.cpp.

Member Function Documentation

bool Turtlebot3Drive::controlLoop

(

)

Definition at line 100 of file turtlebot3_drive.cpp.

bool Turtlebot3Drive::init

(

)

Definition at line 39 of file turtlebot3_drive.cpp.

void Turtlebot3Drive::laserScanMsgCallBack ( const sensor_msgs::LaserScan::ConstPtr &  msg )

private

Definition at line 70 of file turtlebot3_drive.cpp.

void Turtlebot3Drive::odomMsgCallBack ( const nav_msgs::Odometry::ConstPtr &  msg )

private

Definition at line 62 of file turtlebot3_drive.cpp.

void Turtlebot3Drive::updatecommandVelocity ( double  linear, double  angular  )

private

Definition at line 87 of file turtlebot3_drive.cpp.

Member Data Documentation

double Turtlebot3Drive::check_forward_dist_

private

Definition at line 69 of file turtlebot3_drive.h.

double Turtlebot3Drive::check_side_dist_

private

Definition at line 70 of file turtlebot3_drive.h.

ros::Publisher Turtlebot3Drive::cmd_vel_pub_

private

Definition at line 61 of file turtlebot3_drive.h.

double Turtlebot3Drive::escape_range_

private

Definition at line 68 of file turtlebot3_drive.h.

ros::Subscriber Turtlebot3Drive::laser_scan_sub_

private

Definition at line 64 of file turtlebot3_drive.h.

ros::NodeHandle Turtlebot3Drive::nh_

private

Definition at line 53 of file turtlebot3_drive.h.

ros::NodeHandle Turtlebot3Drive::nh_priv_

private

Definition at line 54 of file turtlebot3_drive.h.

ros::Subscriber Turtlebot3Drive::odom_sub_

private

Definition at line 65 of file turtlebot3_drive.h.

double Turtlebot3Drive::prev_tb3_pose_

private

Definition at line 75 of file turtlebot3_drive.h.

double Turtlebot3Drive::scan_data_[3] = {0.0, 0.0, 0.0}

private

Definition at line 72 of file turtlebot3_drive.h.

double Turtlebot3Drive::tb3_pose_

private

Definition at line 74 of file turtlebot3_drive.h.

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

• turtlebot3_drive.h
• turtlebot3_drive.cpp