Turtlebot3Drive Class Reference

#include <turtlebot3_drive.h>

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

Private Member Functions
void	jointStateMsgCallBack (const sensor_msgs::JointState::ConstPtr &msg)
void	laserScanMsgCallBack (const sensor_msgs::LaserScan::ConstPtr &msg)
void	updatecommandVelocity (double linear, double angular)

Private Attributes
ros::Publisher	cmd_vel_pub_
double	direction_vector_ [3] = {0.0, 0.0, 0.0}
double	front_distance_limit_
bool	is_debug_
ros::Subscriber	joint_state_sub_
ros::Subscriber	laser_scan_sub_
ros::NodeHandle	nh_
ros::NodeHandle	nh_priv_
double	priv_right_joint_encoder_
double	right_joint_encoder_
double	rotate_angle_
double	side_distance_limit_
double	turning_radius_

Detailed Description

Definition at line 50 of file turtlebot3_drive.h.

Constructor & Destructor Documentation

Turtlebot3Drive::Turtlebot3Drive

(

)

Definition at line 21 of file turtlebot3_drive.cpp.

Turtlebot3Drive::~Turtlebot3Drive

(

)

Definition at line 29 of file turtlebot3_drive.cpp.

Member Function Documentation

bool Turtlebot3Drive::controlLoop

(

)

Definition at line 113 of file turtlebot3_drive.cpp.

bool Turtlebot3Drive::init

(

)

Definition at line 38 of file turtlebot3_drive.cpp.

void Turtlebot3Drive::jointStateMsgCallBack ( const sensor_msgs::JointState::ConstPtr &  msg )

private

Definition at line 78 of file turtlebot3_drive.cpp.

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

private

Definition at line 83 of file turtlebot3_drive.cpp.

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

private

Definition at line 100 of file turtlebot3_drive.cpp.

Member Data Documentation

ros::Publisher Turtlebot3Drive::cmd_vel_pub_

private

Definition at line 69 of file turtlebot3_drive.h.

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

private

Definition at line 80 of file turtlebot3_drive.h.

double Turtlebot3Drive::front_distance_limit_

private

Definition at line 77 of file turtlebot3_drive.h.

bool Turtlebot3Drive::is_debug_

private

Definition at line 64 of file turtlebot3_drive.h.

ros::Subscriber Turtlebot3Drive::joint_state_sub_

private

Definition at line 73 of file turtlebot3_drive.h.

ros::Subscriber Turtlebot3Drive::laser_scan_sub_

private

Definition at line 72 of file turtlebot3_drive.h.

ros::NodeHandle Turtlebot3Drive::nh_

private

Definition at line 60 of file turtlebot3_drive.h.

ros::NodeHandle Turtlebot3Drive::nh_priv_

private

Definition at line 61 of file turtlebot3_drive.h.

double Turtlebot3Drive::priv_right_joint_encoder_

private

Definition at line 83 of file turtlebot3_drive.h.

double Turtlebot3Drive::right_joint_encoder_

private

Definition at line 82 of file turtlebot3_drive.h.

double Turtlebot3Drive::rotate_angle_

private

Definition at line 76 of file turtlebot3_drive.h.

double Turtlebot3Drive::side_distance_limit_

private

Definition at line 78 of file turtlebot3_drive.h.

double Turtlebot3Drive::turning_radius_

private

Definition at line 75 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