MobileRobotSimulator Class Reference

#include <mobile_robot_simulator.h>

Public Member Functions
	MobileRobotSimulator (ros::NodeHandle *nh)
void	start ()
void	stop ()
	~MobileRobotSimulator ()

Public Attributes
bool	publish_map_transform

Private Member Functions
void	get_params ()
void	get_tf_from_odom (nav_msgs::Odometry odom)
void	init_pose_callback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
void	update_loop (const ros::TimerEvent &event)
void	update_odom_from_vel (geometry_msgs::Twist vel, ros::Duration time_diff)
void	vel_callback (const geometry_msgs::Twist::ConstPtr &msg)

Private Attributes
std::string	base_link_frame
ros::Subscriber	init_pose_sub
bool	is_running
ros::Time	last_update
ros::Time	last_vel
ros::Timer	loop_timer
tf::StampedTransform	map_trans
ros::Time	measure_time
bool	message_received = false
ros::NodeHandle *	nh_ptr
nav_msgs::Odometry	odom
ros::Publisher	odom_pub
tf::StampedTransform	odom_trans
std::string	odometry_topic
double	publish_rate
tf::TransformBroadcaster	tf_broadcaster
double	th = 0.0
ros::Subscriber	vel_sub
std::string	velocity_topic

Detailed Description

Definition at line 17 of file mobile_robot_simulator.h.

Constructor & Destructor Documentation

MobileRobotSimulator()

MobileRobotSimulator::MobileRobotSimulator

(

ros::NodeHandle *

nh

)

Definition at line 5 of file mobile_robot_simulator.cpp.

~MobileRobotSimulator()

MobileRobotSimulator::~MobileRobotSimulator

(

)

Definition at line 34 of file mobile_robot_simulator.cpp.

Member Function Documentation

get_params()

void MobileRobotSimulator::get_params ( )

private

gets parameters from the parameter server

Definition at line 39 of file mobile_robot_simulator.cpp.

get_tf_from_odom()

void MobileRobotSimulator::get_tf_from_odom ( nav_msgs::Odometry  odom )

private

generate transform from odom

Definition at line 107 of file mobile_robot_simulator.cpp.

init_pose_callback()

void MobileRobotSimulator::init_pose_callback ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  msg )

private

initial pose callback function

Definition at line 133 of file mobile_robot_simulator.cpp.

start()

void MobileRobotSimulator::start

(

)

start the simulation loop

Definition at line 49 of file mobile_robot_simulator.cpp.

stop()

void MobileRobotSimulator::stop

(

)

stop everything

Definition at line 57 of file mobile_robot_simulator.cpp.

update_loop()

void MobileRobotSimulator::update_loop ( const ros::TimerEvent &  event )

private

main update loop

Definition at line 64 of file mobile_robot_simulator.cpp.

update_odom_from_vel()

void MobileRobotSimulator::update_odom_from_vel ( geometry_msgs::Twist  vel, ros::Duration  time_diff  )

private

update the odometry info based on velocity and duration

Definition at line 84 of file mobile_robot_simulator.cpp.

vel_callback()

void MobileRobotSimulator::vel_callback ( const geometry_msgs::Twist::ConstPtr &  msg )

private

callback function for velocity

Definition at line 121 of file mobile_robot_simulator.cpp.

Member Data Documentation

base_link_frame

std::string MobileRobotSimulator::base_link_frame

private

Definition at line 76 of file mobile_robot_simulator.h.

init_pose_sub

ros::Subscriber MobileRobotSimulator::init_pose_sub

private

Definition at line 70 of file mobile_robot_simulator.h.

is_running

bool MobileRobotSimulator::is_running

private

Definition at line 65 of file mobile_robot_simulator.h.

last_update

ros::Time MobileRobotSimulator::last_update

private

Definition at line 60 of file mobile_robot_simulator.h.

last_vel

ros::Time MobileRobotSimulator::last_vel

private

Definition at line 59 of file mobile_robot_simulator.h.

loop_timer

ros::Timer MobileRobotSimulator::loop_timer

private

Definition at line 78 of file mobile_robot_simulator.h.

map_trans

tf::StampedTransform MobileRobotSimulator::map_trans

private

Definition at line 57 of file mobile_robot_simulator.h.

measure_time

ros::Time MobileRobotSimulator::measure_time

private

Definition at line 61 of file mobile_robot_simulator.h.

message_received

bool MobileRobotSimulator::message_received = false

private

Definition at line 62 of file mobile_robot_simulator.h.

nh_ptr

ros::NodeHandle* MobileRobotSimulator::nh_ptr

private

Definition at line 63 of file mobile_robot_simulator.h.

odom

nav_msgs::Odometry MobileRobotSimulator::odom

private

Definition at line 55 of file mobile_robot_simulator.h.

odom_pub

ros::Publisher MobileRobotSimulator::odom_pub

private

Definition at line 68 of file mobile_robot_simulator.h.

odom_trans

tf::StampedTransform MobileRobotSimulator::odom_trans

private

Definition at line 56 of file mobile_robot_simulator.h.

odometry_topic

std::string MobileRobotSimulator::odometry_topic

private

Definition at line 75 of file mobile_robot_simulator.h.

publish_map_transform

bool MobileRobotSimulator::publish_map_transform

Definition at line 30 of file mobile_robot_simulator.h.

publish_rate

double MobileRobotSimulator::publish_rate

private

Definition at line 53 of file mobile_robot_simulator.h.

tf_broadcaster

tf::TransformBroadcaster MobileRobotSimulator::tf_broadcaster

private

Definition at line 71 of file mobile_robot_simulator.h.

th

double MobileRobotSimulator::th = 0.0

private

Definition at line 80 of file mobile_robot_simulator.h.

vel_sub

ros::Subscriber MobileRobotSimulator::vel_sub

private

Definition at line 69 of file mobile_robot_simulator.h.

velocity_topic

std::string MobileRobotSimulator::velocity_topic

private

Definition at line 74 of file mobile_robot_simulator.h.

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

• mobile_robot_simulator.h
• mobile_robot_simulator.cpp