vesc_ackermann::AckermannToVesc Class Reference

#include <ackermann_to_vesc.h>

Public Member Functions
	AckermannToVesc (ros::NodeHandle nh, ros::NodeHandle private_nh)

Private Member Functions
void	ackermannCmdCallback (const ackermann_msgs::AckermannDriveStamped::ConstPtr &cmd)

Private Attributes
ros::Subscriber	ackermann_sub_
ros::Publisher	erpm_pub_
ros::Publisher	servo_pub_
double	speed_to_erpm_gain_
double	speed_to_erpm_offset_
double	steering_to_servo_gain_
double	steering_to_servo_offset_

Detailed Description

Definition at line 37 of file ackermann_to_vesc.h.

Constructor & Destructor Documentation

vesc_ackermann::AckermannToVesc::AckermannToVesc	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh
	)

Definition at line 42 of file ackermann_to_vesc.cpp.

Member Function Documentation

void vesc_ackermann::AckermannToVesc::ackermannCmdCallback ( const ackermann_msgs::AckermannDriveStamped::ConstPtr &  cmd )

private

Definition at line 63 of file ackermann_to_vesc.cpp.

Member Data Documentation

ros::Subscriber vesc_ackermann::AckermannToVesc::ackermann_sub_

private

Definition at line 53 of file ackermann_to_vesc.h.

ros::Publisher vesc_ackermann::AckermannToVesc::erpm_pub_

private

Todo:

consider also providing an interpolated look-up table conversion

Definition at line 51 of file ackermann_to_vesc.h.

ros::Publisher vesc_ackermann::AckermannToVesc::servo_pub_

private

Definition at line 52 of file ackermann_to_vesc.h.

double vesc_ackermann::AckermannToVesc::speed_to_erpm_gain_

private

Definition at line 45 of file ackermann_to_vesc.h.

double vesc_ackermann::AckermannToVesc::speed_to_erpm_offset_

private

Definition at line 45 of file ackermann_to_vesc.h.

double vesc_ackermann::AckermannToVesc::steering_to_servo_gain_

private

Definition at line 46 of file ackermann_to_vesc.h.

double vesc_ackermann::AckermannToVesc::steering_to_servo_offset_

private

Definition at line 46 of file ackermann_to_vesc.h.

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

• ackermann_to_vesc.h
• ackermann_to_vesc.cpp