#include <seed_r7_mover_controller.h>

Public Member Functions
	MoverController (const ros::NodeHandle &_nh, robot_hardware::RobotHW *_in_hw)

	~MoverController ()
	destructor More...

Private Member Functions
void	calculateOdometry (const ros::TimerEvent &_event)
	odometry publisher More...

void	cmdVelCallback (const geometry_msgs::TwistConstPtr &_cmd_vel)
	control with cmd_vel More...

bool	ledControlCallback (seed_r7_ros_controller::LedControl::Request &_req, seed_r7_ros_controller::LedControl::Response &_res)

void	moveBaseStatusCallBack (const actionlib_msgs::GoalStatusArray::ConstPtr &status)

void	safetyCheckCallback (const ros::TimerEvent &_event)
	safety stopper when msg is not reached for more than `safety_duration_` [s] More...

bool	setInitialPoseCallback (seed_r7_ros_controller::SetInitialPose::Request &_req, seed_r7_ros_controller::SetInitialPose::Response &_res)

void	velocityToWheel (double _linear_x, double _linear_y, double _angular_z, std::vector< int16_t > &_wheel_vel)

Private Attributes
std::vector< int >	aero_index_

boost::mutex	base_mtx_

ros::Subscriber	cmd_vel_sub_

ros::Time	current_time_

robot_hardware::RobotHW *	hw_

ros::Publisher	initialpose_pub_

float	k1_

float	k2_

ros::Time	last_time_

ros::ServiceServer	led_control_server_

actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > *	move_base_action_

ros::NodeHandle	nh_

int	num_of_wheels_

tf::TransformBroadcaster	odom_broadcaster_

ros::Publisher	odom_pub_

double	odom_rate_

ros::Timer	odom_timer_

double	ros_rate_

ros::Timer	safe_timer_

double	safety_duration_

double	safety_rate_

bool	servo_on_

ros::ServiceServer	set_initialpose_server_

double	th_

ros::Time	time_stamp_

double	vth_

double	vx_

double	vy_

std::vector< std::string >	wheel_names_

double	x_

double	y_

Detailed Description

Definition at line 40 of file seed_r7_mover_controller.h.

Constructor & Destructor Documentation

◆ MoverController()

robot_hardware::MoverController::MoverController	(	const ros::NodeHandle &	_nh,
		robot_hardware::RobotHW *	_in_hw
	)

explicit

Author: Sasabuchi Kazuhiro, Shintaro Hori, Hiroaki Yaguchi

Definition at line 5 of file seed_r7_mover_controller.cpp.

◆ ~MoverController()

robot_hardware::MoverController::~MoverController ( )

destructor

Definition at line 59 of file seed_r7_mover_controller.cpp.

Member Function Documentation

◆ calculateOdometry()

void robot_hardware::MoverController::calculateOdometry ( const ros::TimerEvent & _event )

private

odometry publisher

Definition at line 153 of file seed_r7_mover_controller.cpp.

◆ cmdVelCallback()

void robot_hardware::MoverController::cmdVelCallback ( const geometry_msgs::TwistConstPtr & _cmd_vel )

private

control with cmd_vel

Definition at line 65 of file seed_r7_mover_controller.cpp.

◆ ledControlCallback()

bool robot_hardware::MoverController::ledControlCallback	(	seed_r7_ros_controller::LedControl::Request &	_req,
		seed_r7_ros_controller::LedControl::Response &	_res
	)

private

Definition at line 262 of file seed_r7_mover_controller.cpp.

◆ moveBaseStatusCallBack()

void robot_hardware::MoverController::moveBaseStatusCallBack ( const actionlib_msgs::GoalStatusArray::ConstPtr & status )

private

◆ safetyCheckCallback()

void robot_hardware::MoverController::safetyCheckCallback ( const ros::TimerEvent & _event )

private

safety stopper when msg is not reached for more than safety_duration_ [s]

Definition at line 134 of file seed_r7_mover_controller.cpp.

◆ setInitialPoseCallback()

bool robot_hardware::MoverController::setInitialPoseCallback	(	seed_r7_ros_controller::SetInitialPose::Request &	_req,
		seed_r7_ros_controller::SetInitialPose::Response &	_res
	)

private

Definition at line 244 of file seed_r7_mover_controller.cpp.

◆ velocityToWheel()

void robot_hardware::MoverController::velocityToWheel	(	double	_linear_x,
		double	_linear_y,
		double	_angular_z,
		std::vector< int16_t > &	_wheel_vel
	)

private

Definition at line 209 of file seed_r7_mover_controller.cpp.

Member Data Documentation

◆ aero_index_

std::vector<int> robot_hardware::MoverController::aero_index_

private

Definition at line 77 of file seed_r7_mover_controller.h.

◆ base_mtx_

boost::mutex robot_hardware::MoverController::base_mtx_

private

Definition at line 79 of file seed_r7_mover_controller.h.

◆ cmd_vel_sub_

ros::Subscriber robot_hardware::MoverController::cmd_vel_sub_

private

Definition at line 59 of file seed_r7_mover_controller.h.

◆ current_time_

ros::Time robot_hardware::MoverController::current_time_

private

Definition at line 57 of file seed_r7_mover_controller.h.

◆ hw_

robot_hardware::RobotHW* robot_hardware::MoverController::hw_

private

Definition at line 80 of file seed_r7_mover_controller.h.

◆ initialpose_pub_

ros::Publisher robot_hardware::MoverController::initialpose_pub_

private

Definition at line 56 of file seed_r7_mover_controller.h.

◆ k1_

float robot_hardware::MoverController::k1_

private

Definition at line 73 of file seed_r7_mover_controller.h.

◆ k2_

float robot_hardware::MoverController::k2_

private

Definition at line 73 of file seed_r7_mover_controller.h.

◆ last_time_

ros::Time robot_hardware::MoverController::last_time_

private

Definition at line 57 of file seed_r7_mover_controller.h.

◆ led_control_server_

ros::ServiceServer robot_hardware::MoverController::led_control_server_

private

Definition at line 62 of file seed_r7_mover_controller.h.

◆ move_base_action_

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>* robot_hardware::MoverController::move_base_action_

private

Definition at line 83 of file seed_r7_mover_controller.h.

◆ nh_

ros::NodeHandle robot_hardware::MoverController::nh_

private

Definition at line 55 of file seed_r7_mover_controller.h.

◆ num_of_wheels_

int robot_hardware::MoverController::num_of_wheels_

private

Definition at line 74 of file seed_r7_mover_controller.h.

◆ odom_broadcaster_

tf::TransformBroadcaster robot_hardware::MoverController::odom_broadcaster_

private

Definition at line 60 of file seed_r7_mover_controller.h.

◆ odom_pub_

ros::Publisher robot_hardware::MoverController::odom_pub_

private

Definition at line 56 of file seed_r7_mover_controller.h.

◆ odom_rate_

double robot_hardware::MoverController::odom_rate_

private

Definition at line 72 of file seed_r7_mover_controller.h.

◆ odom_timer_

ros::Timer robot_hardware::MoverController::odom_timer_

private

Definition at line 58 of file seed_r7_mover_controller.h.

◆ ros_rate_

double robot_hardware::MoverController::ros_rate_

private

Definition at line 72 of file seed_r7_mover_controller.h.

◆ safe_timer_

ros::Timer robot_hardware::MoverController::safe_timer_

private

Definition at line 58 of file seed_r7_mover_controller.h.

◆ safety_duration_

double robot_hardware::MoverController::safety_duration_

private

Definition at line 72 of file seed_r7_mover_controller.h.

◆ safety_rate_

double robot_hardware::MoverController::safety_rate_

private

Definition at line 72 of file seed_r7_mover_controller.h.

◆ servo_on_

bool robot_hardware::MoverController::servo_on_

private

Definition at line 75 of file seed_r7_mover_controller.h.

◆ set_initialpose_server_

ros::ServiceServer robot_hardware::MoverController::set_initialpose_server_

private

Definition at line 63 of file seed_r7_mover_controller.h.

◆ th_

double robot_hardware::MoverController::th_

private

Definition at line 71 of file seed_r7_mover_controller.h.

◆ time_stamp_

ros::Time robot_hardware::MoverController::time_stamp_

private

Definition at line 57 of file seed_r7_mover_controller.h.

◆ vth_

double robot_hardware::MoverController::vth_

private

Definition at line 71 of file seed_r7_mover_controller.h.

◆ vx_

double robot_hardware::MoverController::vx_

private

Definition at line 71 of file seed_r7_mover_controller.h.

◆ vy_

double robot_hardware::MoverController::vy_

private

Definition at line 71 of file seed_r7_mover_controller.h.

◆ wheel_names_

std::vector<std::string> robot_hardware::MoverController::wheel_names_

private

Definition at line 76 of file seed_r7_mover_controller.h.

◆ x_

double robot_hardware::MoverController::x_

private

Definition at line 71 of file seed_r7_mover_controller.h.

◆ y_

double robot_hardware::MoverController::y_

private

Definition at line 71 of file seed_r7_mover_controller.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

◆ MoverController()

◆ ~MoverController()

Member Function Documentation

◆ calculateOdometry()

◆ cmdVelCallback()

◆ ledControlCallback()

◆ moveBaseStatusCallBack()

◆ safetyCheckCallback()

◆ setInitialPoseCallback()

◆ velocityToWheel()

Member Data Documentation

◆ aero_index_

◆ base_mtx_

◆ cmd_vel_sub_

◆ current_time_

◆ hw_

◆ initialpose_pub_

◆ k1_

◆ k2_

◆ last_time_

◆ led_control_server_

◆ move_base_action_

◆ nh_

◆ num_of_wheels_

◆ odom_broadcaster_

◆ odom_pub_

◆ odom_rate_

◆ odom_timer_

◆ ros_rate_

◆ safe_timer_

◆ safety_duration_

◆ safety_rate_

◆ servo_on_

◆ set_initialpose_server_

◆ th_

◆ time_stamp_

◆ vth_

◆ vx_

◆ vy_

◆ wheel_names_

◆ x_

◆ y_