ROSaicNodeBase Class Reference

This class is the base class for abstraction. More...

#include <typedefs.hpp>

Inheritance diagram for ROSaicNodeBase:

Public Member Functions
Timestamp	getTime ()
	Gets current timestamp. More...
bool	getUint32Param (const std::string &name, uint32_t &val, uint32_t defaultVal)
	Gets an integer or unsigned integer value from the parameter server. More...
void	log (LogLevel logLevel, const std::string &s)
	Log function to provide abstraction of ROS loggers. More...
template<typename T >
bool	param (const std::string &name, T &val, const T &defaultVal)
	Gets parameter of type T from the parameter server. More...
template<typename M >
void	publishMessage (const std::string &topic, const M &msg)
	Publishing function. More...
void	publishTf (const LocalizationUtmMsg &loc)
	Publishing function for tf. More...
void	registerSubscriber ()
	ROSaicNodeBase ()
virtual	~ROSaicNodeBase ()

Protected Member Functions
virtual void	sendVelocity (const std::string &velNmea)=0
	Send velocity to communication layer (virtual) More...

Protected Attributes
std::shared_ptr< ros::NodeHandle >	pNh_
	Node handle pointer. More...
Settings	settings_
	Settings. More...

Private Member Functions
void	callbackOdometry (const nav_msgs::Odometry::ConstPtr &odo)
void	callbackTwist (const TwistWithCovarianceStampedMsg::ConstPtr &twist)
void	processTwist (Timestamp stamp, const geometry_msgs::TwistWithCovariance &twist)

Private Attributes
TimestampRos	lastTfStamp_
	Last tf stamp. More...
ros::Subscriber	odometrySubscriber_
	Odometry subscriber. More...
uint32_t	queueSize_ = 1
	Publisher queue size. More...
tf2_ros::TransformBroadcaster	tf2Publisher_
	Transform publisher. More...
tf2_ros::Buffer	tfBuffer_
	tf buffer More...
tf2_ros::TransformListener	tfListener_
std::unordered_map< std::string, ros::Publisher >	topicMap_
	Map of topics and publishers. More...
ros::Subscriber	twistSubscriber_
	Twist subscriber. More...

Detailed Description

This class is the base class for abstraction.

Definition at line 174 of file typedefs.hpp.

Constructor & Destructor Documentation

ROSaicNodeBase()

ROSaicNodeBase::ROSaicNodeBase ( )

inline

Definition at line 177 of file typedefs.hpp.

~ROSaicNodeBase()

virtual ROSaicNodeBase::~ROSaicNodeBase ( )

inlinevirtual

Definition at line 179 of file typedefs.hpp.

Member Function Documentation

callbackOdometry()

void ROSaicNodeBase::callbackOdometry ( const nav_msgs::Odometry::ConstPtr &  odo )

inlineprivate

Definition at line 351 of file typedefs.hpp.

callbackTwist()

void ROSaicNodeBase::callbackTwist ( const TwistWithCovarianceStampedMsg::ConstPtr &  twist )

inlineprivate

Definition at line 358 of file typedefs.hpp.

getTime()

Timestamp ROSaicNodeBase::getTime ( )

inline

Gets current timestamp.

Returns

Timestamp

Definition at line 259 of file typedefs.hpp.

getUint32Param()

bool ROSaicNodeBase::getUint32Param ( const std::string &  name, uint32_t &  val, uint32_t  defaultVal  )

inline

Gets an integer or unsigned integer value from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type U, which can be either unsigned int or int
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Definition at line 200 of file typedefs.hpp.

log()

void ROSaicNodeBase::log ( LogLevel  logLevel, const std::string &  s  )

inline

Log function to provide abstraction of ROS loggers.

Parameters

[in]	logLevel	Log level
[in]	s	String to log

Definition at line 231 of file typedefs.hpp.

param()

template<typename T >

bool ROSaicNodeBase::param ( const std::string &  name, T &  val, const T &  defaultVal  )

inline

Gets parameter of type T from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type T
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Returns

True if it could be retrieved, false if not

Definition at line 221 of file typedefs.hpp.

processTwist()

void ROSaicNodeBase::processTwist ( Timestamp  stamp, const geometry_msgs::TwistWithCovariance &  twist  )

inlineprivate

Definition at line 365 of file typedefs.hpp.

publishMessage()

template<typename M >

void ROSaicNodeBase::publishMessage ( const std::string &  topic, const M &  msg  )

inline

Publishing function.

Parameters

[in]	topic	String of topic
[in]	msg	ROS message to be published

Definition at line 267 of file typedefs.hpp.

publishTf()

void ROSaicNodeBase::publishTf ( const LocalizationUtmMsg &  loc )

inline

Publishing function for tf.

Parameters

[in]

msg

ROS localization message to be converted to tf

Definition at line 285 of file typedefs.hpp.

registerSubscriber()

void ROSaicNodeBase::registerSubscriber ( )

inline

Definition at line 181 of file typedefs.hpp.

sendVelocity()

virtual void ROSaicNodeBase::sendVelocity ( const std::string &  velNmea )

protectedpure virtual

Send velocity to communication layer (virtual)

Implemented in rosaic_node::ROSaicNode.

Member Data Documentation

lastTfStamp_

TimestampRos ROSaicNodeBase::lastTfStamp_

private

Last tf stamp.

Definition at line 477 of file typedefs.hpp.

odometrySubscriber_

ros::Subscriber ROSaicNodeBase::odometrySubscriber_

private

Odometry subscriber.

Definition at line 473 of file typedefs.hpp.

pNh_

std::shared_ptr<ros::NodeHandle> ROSaicNodeBase::pNh_

protected

Node handle pointer.

Definition at line 459 of file typedefs.hpp.

queueSize_

uint32_t ROSaicNodeBase::queueSize_ = 1

private

Publisher queue size.

Definition at line 469 of file typedefs.hpp.

settings_

Settings ROSaicNodeBase::settings_

protected

Settings.

Definition at line 461 of file typedefs.hpp.

tf2Publisher_

tf2_ros::TransformBroadcaster ROSaicNodeBase::tf2Publisher_

private

Transform publisher.

Definition at line 471 of file typedefs.hpp.

tfBuffer_

tf2_ros::Buffer ROSaicNodeBase::tfBuffer_

private

tf buffer

Definition at line 479 of file typedefs.hpp.

tfListener_

tf2_ros::TransformListener ROSaicNodeBase::tfListener_

private

Definition at line 481 of file typedefs.hpp.

topicMap_

std::unordered_map<std::string, ros::Publisher> ROSaicNodeBase::topicMap_

private

Map of topics and publishers.

Definition at line 467 of file typedefs.hpp.

twistSubscriber_

ros::Subscriber ROSaicNodeBase::twistSubscriber_

private

Twist subscriber.

Definition at line 475 of file typedefs.hpp.

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

• typedefs.hpp