CreateDriver Class Reference

#include <create_driver.h>

Public Member Functions
	CreateDriver (ros::NodeHandle &nh)
virtual void	spin ()
virtual void	spinOnce ()
	~CreateDriver ()

Private Member Functions
void	checkLEDCallback (const std_msgs::BoolConstPtr &msg)
void	cmdVelCallback (const geometry_msgs::TwistConstPtr &msg)
void	debrisLEDCallback (const std_msgs::BoolConstPtr &msg)
void	defineSongCallback (const create_msgs::DefineSongConstPtr &msg)
void	dockCallback (const std_msgs::EmptyConstPtr &msg)
void	dockLEDCallback (const std_msgs::BoolConstPtr &msg)
void	mainBrushMotor (const create_msgs::MotorSetpointConstPtr &msg)
void	playSongCallback (const create_msgs::PlaySongConstPtr &msg)
void	powerLEDCallback (const std_msgs::UInt8MultiArrayConstPtr &msg)
void	publishBatteryInfo ()
void	publishBumperInfo ()
void	publishButtonPresses () const
void	publishJointState ()
void	publishMode ()
void	publishOdom ()
void	publishOmniChar ()
void	publishWheeldrop ()
void	setASCIICallback (const std_msgs::UInt8MultiArrayConstPtr &msg)
void	sideBrushMotor (const create_msgs::MotorSetpointConstPtr &msg)
void	spotLEDCallback (const std_msgs::BoolConstPtr &msg)
void	undockCallback (const std_msgs::EmptyConstPtr &msg)
bool	update ()
void	updateBatteryDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	updateDriverDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	updateModeDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	updateSafetyDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	updateSerialDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	vacuumBrushMotor (const create_msgs::MotorSetpointConstPtr &msg)

Private Attributes
std::string	base_frame_
int	baud_
create_msgs::Bumper	bumper_msg_
ros::Publisher	bumper_pub_
ros::Publisher	capacity_pub_
ros::Publisher	charge_pub_
ros::Publisher	charge_ratio_pub_
create_msgs::ChargingState	charging_state_msg_
ros::Publisher	charging_state_pub_
ros::Subscriber	check_led_sub_
ros::Publisher	clean_btn_pub_
ros::Subscriber	cmd_vel_sub_
ros::Publisher	current_pub_
ros::Publisher	day_btn_pub_
ros::Subscriber	debris_led_sub_
ros::Subscriber	define_song_sub_
std::string	dev_
diagnostic_updater::Updater	diagnostics_
ros::Publisher	dock_btn_pub_
ros::Subscriber	dock_led_sub_
ros::Subscriber	dock_sub_
std_msgs::Empty	empty_msg_
std_msgs::Float32	float32_msg_
ros::Publisher	hour_btn_pub_
std_msgs::Int16	int16_msg_
bool	is_running_slowly_
sensor_msgs::JointState	joint_state_msg_
ros::Time	last_cmd_vel_time_
double	latch_duration_
double	loop_hz_
ros::Subscriber	main_brush_motor_sub_
ros::Publisher	min_btn_pub_
create_msgs::Mode	mode_msg_
ros::Publisher	mode_pub_
create::RobotModel	model_
ros::NodeHandle	nh_
std::string	odom_frame_
nav_msgs::Odometry	odom_msg_
ros::Publisher	odom_pub_
ros::Publisher	omni_char_pub_
ros::Subscriber	play_song_sub_
ros::Subscriber	power_led_sub_
ros::NodeHandle	priv_nh_
bool	publish_tf_
create::Create *	robot_
ros::Subscriber	set_ascii_sub_
ros::Subscriber	side_brush_motor_sub_
ros::Publisher	spot_btn_pub_
ros::Subscriber	spot_led_sub_
ros::Publisher	temperature_pub_
tf2_ros::TransformBroadcaster	tf_broadcaster_
geometry_msgs::TransformStamped	tf_odom_
std_msgs::UInt16	uint16_msg_
ros::Subscriber	undock_sub_
ros::Subscriber	vacuum_motor_sub_
ros::Publisher	voltage_pub_
ros::Publisher	wheel_joint_pub_
ros::Publisher	wheeldrop_pub_

Detailed Description

Definition at line 62 of file create_driver.h.

Constructor & Destructor Documentation

CreateDriver()

CreateDriver::CreateDriver ( ros::NodeHandle &  nh )

explicit

Definition at line 34 of file create_driver.cpp.

~CreateDriver()

CreateDriver::~CreateDriver

(

)

Definition at line 160 of file create_driver.cpp.

Member Function Documentation

checkLEDCallback()

void CreateDriver::checkLEDCallback ( const std_msgs::BoolConstPtr &  msg )

private

Definition at line 188 of file create_driver.cpp.

cmdVelCallback()

void CreateDriver::cmdVelCallback ( const geometry_msgs::TwistConstPtr &  msg )

private

Definition at line 167 of file create_driver.cpp.

debrisLEDCallback()

void CreateDriver::debrisLEDCallback ( const std_msgs::BoolConstPtr &  msg )

private

Definition at line 173 of file create_driver.cpp.

defineSongCallback()

void CreateDriver::defineSongCallback ( const create_msgs::DefineSongConstPtr &  msg )

private

Definition at line 263 of file create_driver.cpp.

dockCallback()

void CreateDriver::dockCallback ( const std_msgs::EmptyConstPtr &  msg )

private

Definition at line 242 of file create_driver.cpp.

dockLEDCallback()

void CreateDriver::dockLEDCallback ( const std_msgs::BoolConstPtr &  msg )

private

Definition at line 183 of file create_driver.cpp.

mainBrushMotor()

void CreateDriver::mainBrushMotor ( const create_msgs::MotorSetpointConstPtr &  msg )

private

Definition at line 286 of file create_driver.cpp.

playSongCallback()

void CreateDriver::playSongCallback ( const create_msgs::PlaySongConstPtr &  msg )

private

Definition at line 271 of file create_driver.cpp.

powerLEDCallback()

void CreateDriver::powerLEDCallback ( const std_msgs::UInt8MultiArrayConstPtr &  msg )

private

Definition at line 193 of file create_driver.cpp.

publishBatteryInfo()

void CreateDriver::publishBatteryInfo ( )

private

Definition at line 518 of file create_driver.cpp.

publishBumperInfo()

void CreateDriver::publishBumperInfo ( )

private

Definition at line 624 of file create_driver.cpp.

publishButtonPresses()

void CreateDriver::publishButtonPresses ( ) const

private

Definition at line 563 of file create_driver.cpp.

publishJointState()

void CreateDriver::publishJointState ( )

private

Definition at line 505 of file create_driver.cpp.

publishMode()

void CreateDriver::publishMode ( )

private

Definition at line 599 of file create_driver.cpp.

publishOdom()

void CreateDriver::publishOdom ( )

private

Definition at line 454 of file create_driver.cpp.

publishOmniChar()

void CreateDriver::publishOmniChar ( )

private

Definition at line 591 of file create_driver.cpp.

publishWheeldrop()

void CreateDriver::publishWheeldrop ( )

private

Definition at line 650 of file create_driver.cpp.

setASCIICallback()

void CreateDriver::setASCIICallback ( const std_msgs::UInt8MultiArrayConstPtr &  msg )

private

Definition at line 212 of file create_driver.cpp.

sideBrushMotor()

void CreateDriver::sideBrushMotor ( const create_msgs::MotorSetpointConstPtr &  msg )

private

Definition at line 279 of file create_driver.cpp.

spin()

void CreateDriver::spin ( )

virtual

Definition at line 663 of file create_driver.cpp.

spinOnce()

void CreateDriver::spinOnce ( )

virtual

Definition at line 656 of file create_driver.cpp.

spotLEDCallback()

void CreateDriver::spotLEDCallback ( const std_msgs::BoolConstPtr &  msg )

private

Definition at line 178 of file create_driver.cpp.

undockCallback()

void CreateDriver::undockCallback ( const std_msgs::EmptyConstPtr &  msg )

private

Definition at line 255 of file create_driver.cpp.

update()

bool CreateDriver::update ( )

private

Definition at line 301 of file create_driver.cpp.

updateBatteryDiagnostics()

void CreateDriver::updateBatteryDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

private

Definition at line 321 of file create_driver.cpp.

updateDriverDiagnostics()

void CreateDriver::updateDriverDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

private

Definition at line 442 of file create_driver.cpp.

updateModeDiagnostics()

void CreateDriver::updateModeDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

private

Definition at line 419 of file create_driver.cpp.

updateSafetyDiagnostics()

void CreateDriver::updateSafetyDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

private

Definition at line 374 of file create_driver.cpp.

updateSerialDiagnostics()

void CreateDriver::updateSerialDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

private

Definition at line 395 of file create_driver.cpp.

vacuumBrushMotor()

void CreateDriver::vacuumBrushMotor ( const create_msgs::MotorSetpointConstPtr &  msg )

private

Definition at line 293 of file create_driver.cpp.

Member Data Documentation

base_frame_

std::string CreateDriver::base_frame_

private

Definition at line 125 of file create_driver.h.

baud_

int CreateDriver::baud_

private

Definition at line 130 of file create_driver.h.

bumper_msg_

create_msgs::Bumper CreateDriver::bumper_msg_

private

Definition at line 112 of file create_driver.h.

bumper_pub_

ros::Publisher CreateDriver::bumper_pub_

private

Definition at line 102 of file create_driver.h.

capacity_pub_

ros::Publisher CreateDriver::capacity_pub_

private

Definition at line 97 of file create_driver.h.

charge_pub_

ros::Publisher CreateDriver::charge_pub_

private

Definition at line 95 of file create_driver.h.

charge_ratio_pub_

ros::Publisher CreateDriver::charge_ratio_pub_

private

Definition at line 96 of file create_driver.h.

charging_state_msg_

create_msgs::ChargingState CreateDriver::charging_state_msg_

private

Definition at line 111 of file create_driver.h.

charging_state_pub_

ros::Publisher CreateDriver::charging_state_pub_

private

Definition at line 99 of file create_driver.h.

check_led_sub_

ros::Subscriber CreateDriver::check_led_sub_

private

Definition at line 75 of file create_driver.h.

clean_btn_pub_

ros::Publisher CreateDriver::clean_btn_pub_

private

Definition at line 87 of file create_driver.h.

cmd_vel_sub_

ros::Subscriber CreateDriver::cmd_vel_sub_

private

Definition at line 71 of file create_driver.h.

current_pub_

ros::Publisher CreateDriver::current_pub_

private

Definition at line 94 of file create_driver.h.

day_btn_pub_

ros::Publisher CreateDriver::day_btn_pub_

private

Definition at line 88 of file create_driver.h.

debris_led_sub_

ros::Subscriber CreateDriver::debris_led_sub_

private

Definition at line 72 of file create_driver.h.

define_song_sub_

ros::Subscriber CreateDriver::define_song_sub_

private

Definition at line 80 of file create_driver.h.

dev_

std::string CreateDriver::dev_

private

Definition at line 124 of file create_driver.h.

diagnostics_

diagnostic_updater::Updater CreateDriver::diagnostics_

private

Definition at line 108 of file create_driver.h.

dock_btn_pub_

ros::Publisher CreateDriver::dock_btn_pub_

private

Definition at line 91 of file create_driver.h.

dock_led_sub_

ros::Subscriber CreateDriver::dock_led_sub_

private

Definition at line 74 of file create_driver.h.

dock_sub_

ros::Subscriber CreateDriver::dock_sub_

private

Definition at line 78 of file create_driver.h.

empty_msg_

std_msgs::Empty CreateDriver::empty_msg_

private

Definition at line 116 of file create_driver.h.

float32_msg_

std_msgs::Float32 CreateDriver::float32_msg_

private

Definition at line 117 of file create_driver.h.

hour_btn_pub_

ros::Publisher CreateDriver::hour_btn_pub_

private

Definition at line 89 of file create_driver.h.

int16_msg_

std_msgs::Int16 CreateDriver::int16_msg_

private

Definition at line 119 of file create_driver.h.

is_running_slowly_

bool CreateDriver::is_running_slowly_

private

Definition at line 121 of file create_driver.h.

joint_state_msg_

sensor_msgs::JointState CreateDriver::joint_state_msg_

private

Definition at line 120 of file create_driver.h.

last_cmd_vel_time_

ros::Time CreateDriver::last_cmd_vel_time_

private

Definition at line 115 of file create_driver.h.

latch_duration_

double CreateDriver::latch_duration_

private

Definition at line 127 of file create_driver.h.

loop_hz_

double CreateDriver::loop_hz_

private

Definition at line 128 of file create_driver.h.

main_brush_motor_sub_

ros::Subscriber CreateDriver::main_brush_motor_sub_

private

Definition at line 83 of file create_driver.h.

min_btn_pub_

ros::Publisher CreateDriver::min_btn_pub_

private

Definition at line 90 of file create_driver.h.

mode_msg_

create_msgs::Mode CreateDriver::mode_msg_

private

Definition at line 110 of file create_driver.h.

mode_pub_

ros::Publisher CreateDriver::mode_pub_

private

Definition at line 101 of file create_driver.h.

model_

create::RobotModel CreateDriver::model_

private

Definition at line 66 of file create_driver.h.

nh_

ros::NodeHandle CreateDriver::nh_

private

Definition at line 68 of file create_driver.h.

odom_frame_

std::string CreateDriver::odom_frame_

private

Definition at line 126 of file create_driver.h.

odom_msg_

nav_msgs::Odometry CreateDriver::odom_msg_

private

Definition at line 113 of file create_driver.h.

odom_pub_

ros::Publisher CreateDriver::odom_pub_

private

Definition at line 86 of file create_driver.h.

omni_char_pub_

ros::Publisher CreateDriver::omni_char_pub_

private

Definition at line 100 of file create_driver.h.

play_song_sub_

ros::Subscriber CreateDriver::play_song_sub_

private

Definition at line 81 of file create_driver.h.

power_led_sub_

ros::Subscriber CreateDriver::power_led_sub_

private

Definition at line 76 of file create_driver.h.

priv_nh_

ros::NodeHandle CreateDriver::priv_nh_

private

Definition at line 69 of file create_driver.h.

publish_tf_

bool CreateDriver::publish_tf_

private

Definition at line 129 of file create_driver.h.

robot_

create::Create* CreateDriver::robot_

private

Definition at line 65 of file create_driver.h.

set_ascii_sub_

ros::Subscriber CreateDriver::set_ascii_sub_

private

Definition at line 77 of file create_driver.h.

side_brush_motor_sub_

ros::Subscriber CreateDriver::side_brush_motor_sub_

private

Definition at line 82 of file create_driver.h.

spot_btn_pub_

ros::Publisher CreateDriver::spot_btn_pub_

private

Definition at line 92 of file create_driver.h.

spot_led_sub_

ros::Subscriber CreateDriver::spot_led_sub_

private

Definition at line 73 of file create_driver.h.

temperature_pub_

ros::Publisher CreateDriver::temperature_pub_

private

Definition at line 98 of file create_driver.h.

tf_broadcaster_

tf2_ros::TransformBroadcaster CreateDriver::tf_broadcaster_

private

Definition at line 106 of file create_driver.h.

tf_odom_

geometry_msgs::TransformStamped CreateDriver::tf_odom_

private

Definition at line 114 of file create_driver.h.

uint16_msg_

std_msgs::UInt16 CreateDriver::uint16_msg_

private

Definition at line 118 of file create_driver.h.

undock_sub_

ros::Subscriber CreateDriver::undock_sub_

private

Definition at line 79 of file create_driver.h.

vacuum_motor_sub_

ros::Subscriber CreateDriver::vacuum_motor_sub_

private

Definition at line 84 of file create_driver.h.

voltage_pub_

ros::Publisher CreateDriver::voltage_pub_

private

Definition at line 93 of file create_driver.h.

wheel_joint_pub_

ros::Publisher CreateDriver::wheel_joint_pub_

private

Definition at line 104 of file create_driver.h.

wheeldrop_pub_

ros::Publisher CreateDriver::wheeldrop_pub_

private

Definition at line 103 of file create_driver.h.

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

• create_driver.h
• create_driver.cpp