#include <urg_node_driver.h>

Public Member Functions
void	run ()
	Start's the nodes threads to run the lidar. More...

bool	updateStatus ()
	Trigger an update of the lidar's status publish the latest known information about the lidar on latched topic. More...

	UrgNode ()

	UrgNode (ros::NodeHandle nh, ros::NodeHandle private_nh)

	~UrgNode ()

Private Member Functions
void	calibrate_time_offset ()

bool	connect ()

void	initSetup ()

void	populateDiagnosticsStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)

bool	reconfigure_callback (urg_node::URGConfig &config, int level)

void	scanThread ()

bool	statusCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

void	update_reconfigure_limits ()

void	updateDiagnostics ()

Private Attributes
bool	calibrate_time_

bool	close_diagnostics_

bool	close_scan_

bool	detailed_status_

std::string	device_id_

std::string	device_status_

boost::shared_ptr< diagnostic_updater::Updater >	diagnostic_updater_

boost::thread	diagnostics_thread_

double	diagnostics_tolerance_

double	diagnostics_window_time_

boost::shared_ptr< diagnostic_updater::HeaderlessTopicDiagnostic >	echoes_freq_

laser_proc::LaserPublisher	echoes_pub_

uint16_t	error_code_

int	error_count_

int	error_limit_

std::string	firmware_date_

std::string	firmware_version_

double	freq_min_

std::string	ip_address_

int	ip_port_

boost::shared_ptr< diagnostic_updater::HeaderlessTopicDiagnostic >	laser_freq_

ros::Publisher	laser_pub_

boost::mutex	lidar_mutex_

bool	lockout_status_

ros::NodeHandle	nh_

ros::NodeHandle	pnh_

std::string	product_name_

std::string	protocol_version_

bool	publish_intensity_

bool	publish_multiecho_

boost::thread	scan_thread_

int	serial_baud_

std::string	serial_port_

volatile bool	service_yield_

boost::shared_ptr< dynamic_reconfigure::Server< urg_node::URGConfig > >	srv_
	Dynamic reconfigure server. More...

ros::Publisher	status_pub_

ros::ServiceServer	status_service_

bool	synchronize_time_

boost::shared_ptr< urg_node::URGCWrapper >	urg_

std::string	vendor_name_

Detailed Description

Definition at line 51 of file urg_node_driver.h.

Constructor & Destructor Documentation

urg_node::UrgNode::UrgNode ( )

Definition at line 54 of file urg_node_driver.cpp.

urg_node::UrgNode::UrgNode	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh
	)

Definition at line 47 of file urg_node_driver.cpp.

urg_node::UrgNode::~UrgNode ( )

Definition at line 102 of file urg_node_driver.cpp.

Member Function Documentation

void urg_node::UrgNode::calibrate_time_offset ( )

private

Definition at line 257 of file urg_node_driver.cpp.

bool urg_node::UrgNode::connect ( )

private

Definition at line 359 of file urg_node_driver.cpp.

void urg_node::UrgNode::initSetup ( )

private

Definition at line 61 of file urg_node_driver.cpp.

void urg_node::UrgNode::populateDiagnosticsStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat )

private

Definition at line 293 of file urg_node_driver.cpp.

bool urg_node::UrgNode::reconfigure_callback	(	urg_node::URGConfig &	config,
		int	level
	)

private

Definition at line 189 of file urg_node_driver.cpp.

void urg_node::UrgNode::run ( )

Start's the nodes threads to run the lidar.

Definition at line 567 of file urg_node_driver.cpp.

void urg_node::UrgNode::scanThread ( )

private

Definition at line 432 of file urg_node_driver.cpp.

bool urg_node::UrgNode::statusCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 169 of file urg_node_driver.cpp.

void urg_node::UrgNode::update_reconfigure_limits ( )

private

Definition at line 236 of file urg_node_driver.cpp.

void urg_node::UrgNode::updateDiagnostics ( )

private

Definition at line 283 of file urg_node_driver.cpp.

bool urg_node::UrgNode::updateStatus ( )

Trigger an update of the lidar's status publish the latest known information about the lidar on latched topic.

Returns: True on update successful, false otherwise.

Definition at line 117 of file urg_node_driver.cpp.

Member Data Documentation

bool urg_node::UrgNode::calibrate_time_

private

Definition at line 118 of file urg_node_driver.h.

bool urg_node::UrgNode::close_diagnostics_

private

Definition at line 111 of file urg_node_driver.h.

bool urg_node::UrgNode::close_scan_

private

Definition at line 112 of file urg_node_driver.h.

bool urg_node::UrgNode::detailed_status_

private

Definition at line 125 of file urg_node_driver.h.

std::string urg_node::UrgNode::device_id_

private

Definition at line 105 of file urg_node_driver.h.

std::string urg_node::UrgNode::device_status_

private

Definition at line 99 of file urg_node_driver.h.

boost::shared_ptr<diagnostic_updater::Updater> urg_node::UrgNode::diagnostic_updater_

private

Definition at line 90 of file urg_node_driver.h.

boost::thread urg_node::UrgNode::diagnostics_thread_

private

Definition at line 85 of file urg_node_driver.h.

double urg_node::UrgNode::diagnostics_tolerance_

private

Definition at line 123 of file urg_node_driver.h.

double urg_node::UrgNode::diagnostics_window_time_

private

Definition at line 124 of file urg_node_driver.h.

boost::shared_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> urg_node::UrgNode::echoes_freq_

private

Definition at line 92 of file urg_node_driver.h.

laser_proc::LaserPublisher urg_node::UrgNode::echoes_pub_

private

Definition at line 130 of file urg_node_driver.h.

uint16_t urg_node::UrgNode::error_code_

private

Definition at line 106 of file urg_node_driver.h.

int urg_node::UrgNode::error_count_

private

Definition at line 109 of file urg_node_driver.h.

int urg_node::UrgNode::error_limit_

private

Definition at line 122 of file urg_node_driver.h.

std::string urg_node::UrgNode::firmware_date_

private

Definition at line 103 of file urg_node_driver.h.

std::string urg_node::UrgNode::firmware_version_

private

Definition at line 102 of file urg_node_driver.h.

double urg_node::UrgNode::freq_min_

private

Definition at line 110 of file urg_node_driver.h.

std::string urg_node::UrgNode::ip_address_

private

Definition at line 115 of file urg_node_driver.h.

int urg_node::UrgNode::ip_port_

private

Definition at line 114 of file urg_node_driver.h.

boost::shared_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> urg_node::UrgNode::laser_freq_

private

Definition at line 91 of file urg_node_driver.h.

ros::Publisher urg_node::UrgNode::laser_pub_

private

Definition at line 129 of file urg_node_driver.h.

boost::mutex urg_node::UrgNode::lidar_mutex_

private

Definition at line 94 of file urg_node_driver.h.

bool urg_node::UrgNode::lockout_status_

private

Definition at line 107 of file urg_node_driver.h.

ros::NodeHandle urg_node::UrgNode::nh_

private

Definition at line 82 of file urg_node_driver.h.

ros::NodeHandle urg_node::UrgNode::pnh_

private

Definition at line 83 of file urg_node_driver.h.

std::string urg_node::UrgNode::product_name_

private

Definition at line 101 of file urg_node_driver.h.

std::string urg_node::UrgNode::protocol_version_

private

Definition at line 104 of file urg_node_driver.h.

bool urg_node::UrgNode::publish_intensity_

private

Definition at line 120 of file urg_node_driver.h.

bool urg_node::UrgNode::publish_multiecho_

private

Definition at line 121 of file urg_node_driver.h.

boost::thread urg_node::UrgNode::scan_thread_

private

Definition at line 86 of file urg_node_driver.h.

int urg_node::UrgNode::serial_baud_

private

Definition at line 117 of file urg_node_driver.h.

std::string urg_node::UrgNode::serial_port_

private

Definition at line 116 of file urg_node_driver.h.

volatile bool urg_node::UrgNode::service_yield_

private

Definition at line 127 of file urg_node_driver.h.

boost::shared_ptr<dynamic_reconfigure::Server<urg_node::URGConfig> > urg_node::UrgNode::srv_

private

Dynamic reconfigure server.

Definition at line 89 of file urg_node_driver.h.

ros::Publisher urg_node::UrgNode::status_pub_

private

Definition at line 131 of file urg_node_driver.h.

ros::ServiceServer urg_node::UrgNode::status_service_

private

Definition at line 133 of file urg_node_driver.h.

bool urg_node::UrgNode::synchronize_time_

private

Definition at line 119 of file urg_node_driver.h.

boost::shared_ptr<urg_node::URGCWrapper> urg_node::UrgNode::urg_

private

Definition at line 88 of file urg_node_driver.h.

std::string urg_node::UrgNode::vendor_name_

private

Definition at line 100 of file urg_node_driver.h.

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