#include <xv11_laser.h>

Public Member Functions
void	close ()
	Close the driver down and prevent the polling loop from advancing. More...

void	poll (sensor_msgs::LaserScan::Ptr scan)
	Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called. More...

	XV11Laser (const std::string &port, uint32_t baud_rate, uint32_t firmware, boost::asio::io_service &io)
	Constructs a new XV11Laser attached to the given serial port. More...

	~XV11Laser ()
	Default destructor. More...

Public Attributes
uint16_t	rpms
	RPMS derived from the rpm bytes in an XV11 packet. More...

Private Attributes
uint32_t	baud_rate_
	The baud rate for the serial connection. More...

uint32_t	firmware_
	The firmware version to check. Currently supports two different versions: 1 and 2. More...

uint16_t	motor_speed_
	current motor speed as reported by the XV11. More...

std::string	port_
	The serial port the driver is attached to. More...

boost::asio::serial_port	serial_
	Actual serial port object for reading/writing to the XV11 Laser Scanner. More...

bool	shutting_down_
	Flag for whether the driver is supposed to be shutting down or not. More...

Detailed Description

Definition at line 41 of file xv11_laser.h.

Constructor & Destructor Documentation

xv_11_laser_driver::XV11Laser::XV11Laser	(	const std::string &	port,
		uint32_t	baud_rate,
		uint32_t	firmware,
		boost::asio::io_service &	io
	)

Constructs a new XV11Laser attached to the given serial port.

Parameters

port	The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
baud_rate	The baud rate to open the serial port at.
io	Boost ASIO IO Service to use when creating the serial port object

Definition at line 38 of file xv11_laser.cpp.

xv_11_laser_driver::XV11Laser::~XV11Laser ( )

inline

Default destructor.

Definition at line 55 of file xv11_laser.h.

Member Function Documentation

void xv_11_laser_driver::XV11Laser::close ( )

inline

Close the driver down and prevent the polling loop from advancing.

Definition at line 66 of file xv11_laser.h.

void xv_11_laser_driver::XV11Laser::poll ( sensor_msgs::LaserScan::Ptr scan )

Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.

Parameters

scan	LaserScan message pointer to fill in with the scan. The caller is responsible for filling in the ROS timestamp and frame_id

Definition at line 43 of file xv11_laser.cpp.

Member Data Documentation

uint32_t xv_11_laser_driver::XV11Laser::baud_rate_

private

The baud rate for the serial connection.

Definition at line 70 of file xv11_laser.h.

uint32_t xv_11_laser_driver::XV11Laser::firmware_

private

The firmware version to check. Currently supports two different versions: 1 and 2.

Definition at line 71 of file xv11_laser.h.

uint16_t xv_11_laser_driver::XV11Laser::motor_speed_

private

current motor speed as reported by the XV11.

Definition at line 75 of file xv11_laser.h.

std::string xv_11_laser_driver::XV11Laser::port_

private

The serial port the driver is attached to.

Definition at line 66 of file xv11_laser.h.

uint16_t xv_11_laser_driver::XV11Laser::rpms

RPMS derived from the rpm bytes in an XV11 packet.

Definition at line 43 of file xv11_laser.h.

boost::asio::serial_port xv_11_laser_driver::XV11Laser::serial_

private

Actual serial port object for reading/writing to the XV11 Laser Scanner.

Definition at line 74 of file xv11_laser.h.

bool xv_11_laser_driver::XV11Laser::shutting_down_

private

Flag for whether the driver is supposed to be shutting down or not.

Definition at line 73 of file xv11_laser.h.

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

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation