vesc_ackermann::VescToOdom Class Reference

#include <vesc_to_odom.h>

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

Private Member Functions
void	servoCmdCallback (const std_msgs::Float64::ConstPtr &servo)
void	vescStateCallback (const vesc_msgs::VescStateStamped::ConstPtr &state)

Private Attributes
std::string	base_frame_
std_msgs::Float64::ConstPtr	last_servo_cmd_
	Last servo position commanded value. More...
vesc_msgs::VescStateStamped::ConstPtr	last_state_
	Last received state message. More...
std::string	odom_frame_
ros::Publisher	odom_pub_
bool	publish_tf_
ros::Subscriber	servo_sub_
double	speed_to_erpm_gain_
double	speed_to_erpm_offset_
double	steering_to_servo_gain_
double	steering_to_servo_offset_
std::shared_ptr< tf::TransformBroadcaster >	tf_pub_
bool	use_servo_cmd_
ros::Subscriber	vesc_state_sub_
double	wheelbase_
double	x_
double	y_
double	yaw_

Detailed Description

Definition at line 42 of file vesc_to_odom.h.

Constructor & Destructor Documentation

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

Definition at line 42 of file vesc_to_odom.cpp.

Member Function Documentation

void vesc_ackermann::VescToOdom::servoCmdCallback ( const std_msgs::Float64::ConstPtr &  servo )

private

Definition at line 173 of file vesc_to_odom.cpp.

void vesc_ackermann::VescToOdom::vescStateCallback ( const vesc_msgs::VescStateStamped::ConstPtr &  state )

private

Todo:

could probably do better propigating odometry, e.g. trapezoidal integration

Todo:

Think about position uncertainty, perhaps get from parameters?

< x

< y

< yaw

Todo:

Think about velocity uncertainty

Definition at line 83 of file vesc_to_odom.cpp.

Member Data Documentation

std::string vesc_ackermann::VescToOdom::base_frame_

private

Definition at line 50 of file vesc_to_odom.h.

std_msgs::Float64::ConstPtr vesc_ackermann::VescToOdom::last_servo_cmd_

private

Last servo position commanded value.

Definition at line 61 of file vesc_to_odom.h.

vesc_msgs::VescStateStamped::ConstPtr vesc_ackermann::VescToOdom::last_state_

private

Last received state message.

Definition at line 62 of file vesc_to_odom.h.

std::string vesc_ackermann::VescToOdom::odom_frame_

private

Definition at line 49 of file vesc_to_odom.h.

ros::Publisher vesc_ackermann::VescToOdom::odom_pub_

private

Definition at line 65 of file vesc_to_odom.h.

bool vesc_ackermann::VescToOdom::publish_tf_

private

Definition at line 57 of file vesc_to_odom.h.

ros::Subscriber vesc_ackermann::VescToOdom::servo_sub_

private

Definition at line 67 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::speed_to_erpm_gain_

private

Definition at line 54 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::speed_to_erpm_offset_

private

Definition at line 54 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::steering_to_servo_gain_

private

Definition at line 55 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::steering_to_servo_offset_

private

Definition at line 55 of file vesc_to_odom.h.

std::shared_ptr<tf::TransformBroadcaster> vesc_ackermann::VescToOdom::tf_pub_

private

Definition at line 68 of file vesc_to_odom.h.

bool vesc_ackermann::VescToOdom::use_servo_cmd_

private

State message does not report servo position, so use the command instead

Definition at line 52 of file vesc_to_odom.h.

ros::Subscriber vesc_ackermann::VescToOdom::vesc_state_sub_

private

Definition at line 66 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::wheelbase_

private

Definition at line 56 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::x_

private

Definition at line 60 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::y_

private

Definition at line 60 of file vesc_to_odom.h.

double vesc_ackermann::VescToOdom::yaw_

private

Definition at line 60 of file vesc_to_odom.h.

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

• vesc_to_odom.h
• vesc_to_odom.cpp