rosaic_node::ROSaicNode Class Reference

This class represents the ROsaic node, to be extended.. More...

#include <rosaic_node.hpp>

Inheritance diagram for rosaic_node::ROSaicNode:

Public Member Functions
	ROSaicNode ()

Private Member Functions
bool	getROSParams ()
	Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file. More...
void	getRPY (const QuaternionMsg &qm, double &roll, double &pitch, double &yaw)
	Gets Euler angles from quaternion message. More...
void	getTransform (const std::string &targetFrame, const std::string &sourceFrame, TransformStampedMsg &T_s_t)
	Gets transforms from tf2. More...
void	sendVelocity (const std::string &velNmea)
	Send velocity to communication layer (virtual) More...
bool	validPeriod (uint32_t period, bool isIns)
	Checks if the period has a valid value. More...
Private Member Functions inherited from ROSaicNodeBase
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 ()

Private Attributes
io_comm_rx::Comm_IO	IO_
	Handles communication with the Rx. More...
tf2_ros::Buffer	tfBuffer_
	tf2 buffer and listener More...
std::unique_ptr< tf2_ros::TransformListener >	tfListener_
Private Attributes inherited from ROSaicNodeBase
std::shared_ptr< ros::NodeHandle >	pNh_
	Node handle pointer. More...
Settings	settings_
	Settings. More...

Detailed Description

This class represents the ROsaic node, to be extended..

Definition at line 86 of file rosaic_node.hpp.

Constructor & Destructor Documentation

ROSaicNode()

rosaic_node::ROSaicNode::ROSaicNode

(

)

The constructor initializes and runs the ROSaic node, if everything works fine. It loads the user-defined ROS parameters, subscribes to Rx messages, and publishes requested ROS messages...

Definition at line 41 of file rosaic_node.cpp.

Member Function Documentation

getROSParams()

bool rosaic_node::ROSaicNode::getROSParams ( )

private

Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file.

The other ROSaic parameters are specified via the command line.

Definition at line 78 of file rosaic_node.cpp.

getRPY()

void rosaic_node::ROSaicNode::getRPY ( const QuaternionMsg &  qm, double &  roll, double &  pitch, double &  yaw  )

private

Gets Euler angles from quaternion message.

Parameters

[in]	qm	quaternion message
[out]	roll	roll angle
[out]	pitch	pitch angle
[out]	yaw	yaw angle

Definition at line 659 of file rosaic_node.cpp.

getTransform()

void rosaic_node::ROSaicNode::getTransform ( const std::string &  targetFrame, const std::string &  sourceFrame, TransformStampedMsg &  T_s_t  )

private

Gets transforms from tf2.

Parameters

[in]	targetFrame	traget frame id
[in]	sourceFrame	source frame id
[out]	T_s_t	transfrom from source to target

Definition at line 636 of file rosaic_node.cpp.

sendVelocity()

void rosaic_node::ROSaicNode::sendVelocity ( const std::string &  velNmea )

privatevirtual

Send velocity to communication layer (virtual)

Implements ROSaicNodeBase.

Definition at line 670 of file rosaic_node.cpp.

validPeriod()

bool rosaic_node::ROSaicNode::validPeriod ( uint32_t  period, bool  isIns  )

private

Checks if the period has a valid value.

Parameters

[in]	period	period [ms]
[in]	isIns	wether recevier is an INS

Returns

wether the period is valid

Definition at line 625 of file rosaic_node.cpp.

Member Data Documentation

IO_

io_comm_rx::Comm_IO rosaic_node::ROSaicNode::IO_

private

Handles communication with the Rx.

Definition at line 131 of file rosaic_node.hpp.

tfBuffer_

tf2_ros::Buffer rosaic_node::ROSaicNode::tfBuffer_

private

tf2 buffer and listener

Definition at line 133 of file rosaic_node.hpp.

tfListener_

std::unique_ptr<tf2_ros::TransformListener> rosaic_node::ROSaicNode::tfListener_

private

Definition at line 134 of file rosaic_node.hpp.

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

• rosaic_node.hpp
• rosaic_node.cpp