#include <xbot_ros.hpp>

Public Member Functions
bool	init (ros::NodeHandle &nh)

bool	update ()

	XbotRos (std::string &node_name)
	Default constructor. More...

	~XbotRos ()

Private Member Functions
void	advertiseTopics (ros::NodeHandle &nh)

void	processBaseStreamData ()

void	processSensorStreamData ()

void	publishBatteryState ()

void	publishCoreSensor ()

void	publishEchoData ()

void	publishExtraSensor ()

void	publishInertia ()

void	publishInfraredData ()

void	publishMotorState ()

void	publishPitchPlatformState ()

void	publishRawInertia ()

void	publishRobotState ()

void	publishSoundState ()

void	publishWheelState ()

void	publishYawPlatformState ()

void	subscribeLedCommand (const std_msgs::UInt8)

void	subscribeLiftCommand (const std_msgs::UInt8)

void	subscribeMotorEnableCommand (const std_msgs::Bool)

void	subscribePitchPlatformCommand (const std_msgs::Int8)

void	subscribeResetOdometry (const std_msgs::EmptyConstPtr)
	Play a predefined sound (single sound or sound sequence) More...

void	subscribeSoundCommand (const std_msgs::Bool)

void	subscribeTopics (ros::NodeHandle &nh)

void	subscribeVelocityCommand (const geometry_msgs::TwistConstPtr)

void	subscribeYawPlatformCommand (const std_msgs::Int8)

Private Attributes
ecl::Slot	base_slot_stream_data

uint32_t	base_timeout_times_

ros::Publisher	battery_state_publisher

bool	cmd_vel_timed_out_

ros::Publisher	core_sensor_publisher

ros::Publisher	extra_sensor_publisher

bool	first_sound_enabled_

ros::Publisher	front_echo_data_publisher

ros::Publisher	imu_data_publisher

ros::Publisher	infrared_data_publisher

ros::Publisher	joint_state_publisher

sensor_msgs::JointState	joint_states

ros::Subscriber	led_command_subscriber

bool	led_indicate_battery

int	led_times_

ros::Subscriber	motor_enable_command_subscriber

bool	motor_enabled_

ros::Publisher	motor_state_publisher

std::string	name

Odometry	odometry

ros::Subscriber	pitch_platform_command_subscriber

ros::Publisher	pitch_platform_state_publisher

int8_t	ppd_

ros::Publisher	raw_imu_data_publisher

ros::Publisher	rear_echo_data_publisher

ros::Subscriber	reset_odometry_subscriber

ros::Publisher	robot_state_publisher

ecl::Slot	sensor_slot_stream_data

uint32_t	sensor_timeout_times_

ros::Subscriber	sound_command_subscriber

bool	sound_enabled_

ros::Publisher	sound_state_publisher

ros::Subscriber	velocity_command_subscriber

Xbot	xbot

ros::Subscriber	yaw_platform_command_subscriber

ros::Publisher	yaw_platform_state_publisher

int8_t	ypd_

Detailed Description

Definition at line 86 of file xbot_ros.hpp.

Constructor & Destructor Documentation

xbot::XbotRos::XbotRos ( std::string & node_name )

Default constructor.

Make sure you call the init() method to fully define this node.

Definition at line 60 of file xbot_ros.cpp.

xbot::XbotRos::~XbotRos ( )

This will wait some time while xbot internally closes its threads and destructs itself.

Definition at line 78 of file xbot_ros.cpp.

Member Function Documentation

void xbot::XbotRos::advertiseTopics ( ros::NodeHandle & nh )

private

Two groups of publishers, one required by turtlebot, the other for xbot esoterics.

Definition at line 295 of file xbot_ros.cpp.

bool xbot::XbotRos::init ( ros::NodeHandle & nh )

Definition at line 87 of file xbot_ros.cpp.

void xbot::XbotRos::processBaseStreamData ( )

private

Definition at line 49 of file slot_callbacks.cpp.

void xbot::XbotRos::processSensorStreamData ( )

private

Definition at line 212 of file slot_callbacks.cpp.

void xbot::XbotRos::publishBatteryState ( )

private

Definition at line 170 of file slot_callbacks.cpp.

void xbot::XbotRos::publishCoreSensor ( )

private

Definition at line 85 of file slot_callbacks.cpp.

void xbot::XbotRos::publishEchoData ( )

private

Definition at line 113 of file slot_callbacks.cpp.

void xbot::XbotRos::publishExtraSensor ( )

private

Definition at line 220 of file slot_callbacks.cpp.

void xbot::XbotRos::publishInertia ( )

private

Definition at line 261 of file slot_callbacks.cpp.

void xbot::XbotRos::publishInfraredData ( )

private

Definition at line 139 of file slot_callbacks.cpp.

void xbot::XbotRos::publishMotorState ( )

private

Definition at line 159 of file slot_callbacks.cpp.

void xbot::XbotRos::publishPitchPlatformState ( )

private

Definition at line 327 of file slot_callbacks.cpp.

void xbot::XbotRos::publishRawInertia ( )

private

Definition at line 293 of file slot_callbacks.cpp.

void xbot::XbotRos::publishRobotState ( )

private

Definition at line 192 of file slot_callbacks.cpp.

void xbot::XbotRos::publishSoundState ( )

private

Definition at line 339 of file slot_callbacks.cpp.

void xbot::XbotRos::publishWheelState ( )

private

Definition at line 62 of file slot_callbacks.cpp.

void xbot::XbotRos::publishYawPlatformState ( )

private

Definition at line 315 of file slot_callbacks.cpp.

void xbot::XbotRos::subscribeLedCommand ( const std_msgs::UInt8 msg )

private

Definition at line 110 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribeLiftCommand ( const std_msgs::UInt8 msg )

private

Definition at line 96 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribeMotorEnableCommand ( const std_msgs::Bool msg )

private

Definition at line 91 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribePitchPlatformCommand ( const std_msgs::Int8 msg )

private

Definition at line 106 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribeResetOdometry ( const std_msgs::EmptyConstPtr )

private

Play a predefined sound (single sound or sound sequence)

Reset the odometry variables.

Definition at line 76 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribeSoundCommand ( const std_msgs::Bool msg )

private

Definition at line 115 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribeTopics ( ros::NodeHandle & nh )

private

Two groups of subscribers, one required by turtlebot, the other for xbot esoterics.

Definition at line 337 of file xbot_ros.cpp.

void xbot::XbotRos::subscribeVelocityCommand ( const geometry_msgs::TwistConstPtr msg )

private

Definition at line 53 of file subscriber_callbacks.cpp.

void xbot::XbotRos::subscribeYawPlatformCommand ( const std_msgs::Int8 msg )

private

Definition at line 101 of file subscriber_callbacks.cpp.

bool xbot::XbotRos::update ( )

This is a worker function that runs in a background thread initiated by the nodelet. It gathers diagnostics information from the xbot driver, and broadcasts the results to the rest of the ros ecosystem.

Note that the actual driver data is collected via the slot callbacks in this class.

Returns: Bool : true/false if successfully updated or not (xbot driver shutdown).

Definition at line 245 of file xbot_ros.cpp.

Member Data Documentation

ecl::Slot xbot::XbotRos::base_slot_stream_data

private

Definition at line 160 of file xbot_ros.hpp.

uint32_t xbot::XbotRos::base_timeout_times_

private

Definition at line 104 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::battery_state_publisher

private

Definition at line 119 of file xbot_ros.hpp.

bool xbot::XbotRos::cmd_vel_timed_out_

private

Definition at line 102 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::core_sensor_publisher

private

Definition at line 115 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::extra_sensor_publisher

private

Definition at line 116 of file xbot_ros.hpp.

bool xbot::XbotRos::first_sound_enabled_

private

Definition at line 109 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::front_echo_data_publisher

private

Definition at line 125 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::imu_data_publisher

private

Definition at line 122 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::infrared_data_publisher

private

Definition at line 124 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::joint_state_publisher

private

Definition at line 126 of file xbot_ros.hpp.

sensor_msgs::JointState xbot::XbotRos::joint_states

private

Definition at line 100 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::led_command_subscriber

private

Definition at line 139 of file xbot_ros.hpp.

bool xbot::XbotRos::led_indicate_battery

private

Definition at line 108 of file xbot_ros.hpp.

int xbot::XbotRos::led_times_

private

Definition at line 110 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::motor_enable_command_subscriber

private

Definition at line 134 of file xbot_ros.hpp.

bool xbot::XbotRos::motor_enabled_

private

Definition at line 132 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::motor_state_publisher

private

Definition at line 120 of file xbot_ros.hpp.

std::string xbot::XbotRos::name

private

Definition at line 98 of file xbot_ros.hpp.

Odometry xbot::XbotRos::odometry

private

Definition at line 101 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::pitch_platform_command_subscriber

private

Definition at line 137 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::pitch_platform_state_publisher

private

Definition at line 118 of file xbot_ros.hpp.

int8_t xbot::XbotRos::ppd_

private

Definition at line 133 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::raw_imu_data_publisher

private

Definition at line 123 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::rear_echo_data_publisher

private

Definition at line 125 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::reset_odometry_subscriber

private

Definition at line 140 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::robot_state_publisher

private

Definition at line 127 of file xbot_ros.hpp.

ecl::Slot xbot::XbotRos::sensor_slot_stream_data

private

Definition at line 161 of file xbot_ros.hpp.

uint32_t xbot::XbotRos::sensor_timeout_times_

private

Definition at line 106 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::sound_command_subscriber

private

Definition at line 138 of file xbot_ros.hpp.

bool xbot::XbotRos::sound_enabled_

private

Definition at line 132 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::sound_state_publisher

private

Definition at line 121 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::velocity_command_subscriber

private

Definition at line 135 of file xbot_ros.hpp.

Xbot xbot::XbotRos::xbot

private

Definition at line 99 of file xbot_ros.hpp.

ros::Subscriber xbot::XbotRos::yaw_platform_command_subscriber

private

Definition at line 136 of file xbot_ros.hpp.

ros::Publisher xbot::XbotRos::yaw_platform_state_publisher

private

Definition at line 117 of file xbot_ros.hpp.

int8_t xbot::XbotRos::ypd_

private

Definition at line 133 of file xbot_ros.hpp.

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