#include <urg_c_wrapper.h>

Public Member Functions
ros::Duration	computeLatency (size_t num_measurements)

double	getAngleIncrement () const

double	getAngleMax () const

double	getAngleMaxLimit () const

double	getAngleMin () const

double	getAngleMinLimit () const

bool	getAR00Status (URGStatus &status)

ros::Duration	getComputedLatency () const

std::string	getDeviceID ()

bool	getDL00Status (UrgDetectionReport &report)

std::string	getFirmwareDate ()

std::string	getFirmwareVersion ()

std::string	getIPAddress () const

int	getIPPort () const

std::string	getProductName ()

std::string	getProtocolVersion ()

double	getRangeMax () const

double	getRangeMin () const

double	getScanPeriod () const

std::string	getSensorState ()

std::string	getSensorStatus ()

int	getSerialBaud () const

std::string	getSerialPort () const

double	getTimeIncrement () const

ros::Duration	getUserTimeOffset () const

std::string	getVendorName ()

bool	grabScan (const sensor_msgs::LaserScanPtr &msg)

bool	grabScan (const sensor_msgs::MultiEchoLaserScanPtr &msg)

bool	isStarted () const

bool	setAngleLimitsAndCluster (double &angle_min, double &angle_max, int cluster)

void	setFrameId (const std::string &frame_id)

void	setSkip (int skip)

void	setUserLatency (const double latency)

void	start ()

void	stop ()

	URGCWrapper (const std::string &ip_address, const int ip_port, bool &using_intensity, bool &using_multiecho, bool synchronize_time)

	URGCWrapper (const int serial_baud, const std::string &serial_port, bool &using_intensity, bool &using_multiecho, bool synchronize_time)

	~URGCWrapper ()

Private Member Functions
uint16_t	checkCRC (const char *bytes, const uint32_t size)
	calculate the crc of a given set of bytes. More...

ros::Duration	getAngularTimeOffset () const

ros::Duration	getNativeClockOffset (size_t num_measurements)

ros::Time	getSynchronizedTime (long time_stamp, long long system_time_stamp)
	Get synchronized time stamp using hardware clock. More...

ros::Duration	getTimeStampOffset (size_t num_measurements)

void	initialize (bool &using_intensity, bool &using_multiecho, bool synchronize_time)

bool	isIntensitySupported ()

bool	isMultiEchoSupported ()

std::string	sendCommand (std::string cmd)
	Send an arbitrary serial command to the lidar. These commands can also be sent via the ethernet socket. More...

bool	setToSCIP2 ()
	Set the Hokuyo URG-04LX from SCIP 1.1 mode to SCIP 2.0 mode. More...

Private Attributes
const double	adj_alpha_ = .01

uint64_t	adj_count_

int	cluster_

std::vector< long >	data_

int	first_step_

std::string	frame_id_
	Output frame_id for each laserscan. More...

double	hardware_clock_

double	hardware_clock_adj_

std::vector< unsigned short >	intensity_

std::string	ip_address_

int	ip_port_

long	last_hardware_time_stamp_

int	last_step_

urg_measurement_type_t	measurement_type_

int	serial_baud_

std::string	serial_port_

int	skip_

bool	started_

bool	synchronize_time_

ros::Duration	system_latency_

urg_t	urg_

bool	use_intensity_

bool	use_multiecho_

ros::Duration	user_latency_

Detailed Description

Definition at line 89 of file urg_c_wrapper.h.

Constructor & Destructor Documentation

◆ URGCWrapper() [1/2]

urg_node::URGCWrapper::URGCWrapper	(	const std::string &	ip_address,
		const int	ip_port,
		bool &	using_intensity,
		bool &	using_multiecho,
		bool	synchronize_time
	)

Definition at line 44 of file urg_c_wrapper.cpp.

◆ URGCWrapper() [2/2]

urg_node::URGCWrapper::URGCWrapper	(	const int	serial_baud,
		const std::string &	serial_port,
		bool &	using_intensity,
		bool &	using_multiecho,
		bool	synchronize_time
	)

Definition at line 70 of file urg_c_wrapper.cpp.

◆ ~URGCWrapper()

urg_node::URGCWrapper::~URGCWrapper ( )

Definition at line 200 of file urg_c_wrapper.cpp.

Member Function Documentation

◆ checkCRC()

uint16_t urg_node::URGCWrapper::checkCRC	(	const char *	bytes,
		const uint32_t	size
	)

private

calculate the crc of a given set of bytes.

Parameters

bytes	The bytes array to be processed.
size	The size of the bytes array.

Returns: the calculated CRC of the bytes.

Definition at line 572 of file urg_c_wrapper.cpp.

◆ computeLatency()

ros::Duration urg_node::URGCWrapper::computeLatency ( size_t num_measurements )

Definition at line 923 of file urg_c_wrapper.cpp.

◆ getAngleIncrement()

double urg_node::URGCWrapper::getAngleIncrement ( ) const

Definition at line 716 of file urg_c_wrapper.cpp.

◆ getAngleMax()

double urg_node::URGCWrapper::getAngleMax ( ) const

Definition at line 695 of file urg_c_wrapper.cpp.

◆ getAngleMaxLimit()

double urg_node::URGCWrapper::getAngleMaxLimit ( ) const

Definition at line 708 of file urg_c_wrapper.cpp.

◆ getAngleMin()

double urg_node::URGCWrapper::getAngleMin ( ) const

Definition at line 690 of file urg_c_wrapper.cpp.

◆ getAngleMinLimit()

double urg_node::URGCWrapper::getAngleMinLimit ( ) const

Definition at line 700 of file urg_c_wrapper.cpp.

◆ getAngularTimeOffset()

ros::Duration urg_node::URGCWrapper::getAngularTimeOffset ( ) const

private

Definition at line 907 of file urg_c_wrapper.cpp.

◆ getAR00Status()

bool urg_node::URGCWrapper::getAR00Status ( URGStatus & status )

Definition at line 342 of file urg_c_wrapper.cpp.

◆ getComputedLatency()

ros::Duration urg_node::URGCWrapper::getComputedLatency ( ) const

Definition at line 790 of file urg_c_wrapper.cpp.

◆ getDeviceID()

std::string urg_node::URGCWrapper::getDeviceID ( )

Definition at line 785 of file urg_c_wrapper.cpp.

◆ getDL00Status()

bool urg_node::URGCWrapper::getDL00Status ( UrgDetectionReport & report )

Definition at line 432 of file urg_c_wrapper.cpp.

◆ getFirmwareDate()

std::string urg_node::URGCWrapper::getFirmwareDate ( )

Definition at line 775 of file urg_c_wrapper.cpp.

◆ getFirmwareVersion()

std::string urg_node::URGCWrapper::getFirmwareVersion ( )

Definition at line 770 of file urg_c_wrapper.cpp.

◆ getIPAddress()

std::string urg_node::URGCWrapper::getIPAddress ( ) const

Definition at line 740 of file urg_c_wrapper.cpp.

◆ getIPPort()

int urg_node::URGCWrapper::getIPPort ( ) const

Definition at line 745 of file urg_c_wrapper.cpp.

◆ getNativeClockOffset()

ros::Duration urg_node::URGCWrapper::getNativeClockOffset ( size_t num_measurements )

private

Definition at line 953 of file urg_c_wrapper.cpp.

◆ getProductName()

std::string urg_node::URGCWrapper::getProductName ( )

Definition at line 765 of file urg_c_wrapper.cpp.

◆ getProtocolVersion()

std::string urg_node::URGCWrapper::getProtocolVersion ( )

Definition at line 780 of file urg_c_wrapper.cpp.

◆ getRangeMax()

double urg_node::URGCWrapper::getRangeMax ( ) const

Definition at line 682 of file urg_c_wrapper.cpp.

◆ getRangeMin()

double urg_node::URGCWrapper::getRangeMin ( ) const

Definition at line 674 of file urg_c_wrapper.cpp.

◆ getScanPeriod()

double urg_node::URGCWrapper::getScanPeriod ( ) const

Definition at line 723 of file urg_c_wrapper.cpp.

◆ getSensorState()

std::string urg_node::URGCWrapper::getSensorState ( )

Definition at line 805 of file urg_c_wrapper.cpp.

◆ getSensorStatus()

std::string urg_node::URGCWrapper::getSensorStatus ( )

Definition at line 800 of file urg_c_wrapper.cpp.

◆ getSerialBaud()

int urg_node::URGCWrapper::getSerialBaud ( ) const

Definition at line 755 of file urg_c_wrapper.cpp.

◆ getSerialPort()

std::string urg_node::URGCWrapper::getSerialPort ( ) const

Definition at line 750 of file urg_c_wrapper.cpp.

◆ getSynchronizedTime()

ros::Time urg_node::URGCWrapper::getSynchronizedTime	(	long	time_stamp,
		long long	system_time_stamp
	)

private

Get synchronized time stamp using hardware clock.

Parameters

time_stamp	The current hardware time stamp.
system_time_stamp	The current system time stamp.

Returns: ros::Time stamp representing synchronized time

Definition at line 1052 of file urg_c_wrapper.cpp.

◆ getTimeIncrement()

double urg_node::URGCWrapper::getTimeIncrement ( ) const

Definition at line 729 of file urg_c_wrapper.cpp.

◆ getTimeStampOffset()

ros::Duration urg_node::URGCWrapper::getTimeStampOffset ( size_t num_measurements )

private

Definition at line 994 of file urg_c_wrapper.cpp.

◆ getUserTimeOffset()

ros::Duration urg_node::URGCWrapper::getUserTimeOffset ( ) const

Definition at line 795 of file urg_c_wrapper.cpp.

◆ getVendorName()

std::string urg_node::URGCWrapper::getVendorName ( )

Definition at line 760 of file urg_c_wrapper.cpp.

◆ grabScan() [1/2]

bool urg_node::URGCWrapper::grabScan ( const sensor_msgs::LaserScanPtr & msg )

Definition at line 206 of file urg_c_wrapper.cpp.

◆ grabScan() [2/2]

bool urg_node::URGCWrapper::grabScan ( const sensor_msgs::MultiEchoLaserScanPtr & msg )

Definition at line 270 of file urg_c_wrapper.cpp.

◆ initialize()

void urg_node::URGCWrapper::initialize	(	bool &	using_intensity,
		bool &	using_multiecho,
		bool	synchronize_time
	)

private

Definition at line 97 of file urg_c_wrapper.cpp.

◆ isIntensitySupported()

bool urg_node::URGCWrapper::isIntensitySupported ( )

private

Definition at line 873 of file urg_c_wrapper.cpp.

◆ isMultiEchoSupported()

bool urg_node::URGCWrapper::isMultiEchoSupported ( )

private

Definition at line 890 of file urg_c_wrapper.cpp.

◆ isStarted()

bool urg_node::URGCWrapper::isStarted ( ) const

Definition at line 669 of file urg_c_wrapper.cpp.

◆ sendCommand()

std::string urg_node::URGCWrapper::sendCommand ( std::string cmd )

private

Send an arbitrary serial command to the lidar. These commands can also be sent via the ethernet socket.

Parameters

cmd	The arbitrary command fully formatted to be sent as provided

Returns: The textual response of the Lidar, empty if, but may return lidar's own error string.

Definition at line 579 of file urg_c_wrapper.cpp.

◆ setAngleLimitsAndCluster()

bool urg_node::URGCWrapper::setAngleLimitsAndCluster	(	double &	angle_min,
		double &	angle_max,
		int	cluster
	)

Definition at line 821 of file urg_c_wrapper.cpp.

◆ setFrameId()

void urg_node::URGCWrapper::setFrameId ( const std::string & frame_id )

Definition at line 810 of file urg_c_wrapper.cpp.

◆ setSkip()

void urg_node::URGCWrapper::setSkip ( int skip )

Definition at line 868 of file urg_c_wrapper.cpp.

◆ setToSCIP2()

bool urg_node::URGCWrapper::setToSCIP2 ( )

private

Set the Hokuyo URG-04LX from SCIP 1.1 mode to SCIP 2.0 mode.

Returns: True if successful and false if not.

Definition at line 545 of file urg_c_wrapper.cpp.

◆ setUserLatency()

void urg_node::URGCWrapper::setUserLatency ( const double latency )

Definition at line 815 of file urg_c_wrapper.cpp.

◆ start()

void urg_node::URGCWrapper::start ( )

Definition at line 170 of file urg_c_wrapper.cpp.

◆ stop()

void urg_node::URGCWrapper::stop ( )

Definition at line 194 of file urg_c_wrapper.cpp.

Member Data Documentation

◆ adj_alpha_

const double urg_node::URGCWrapper::adj_alpha_ = .01

private

Definition at line 237 of file urg_c_wrapper.h.

◆ adj_count_

uint64_t urg_node::URGCWrapper::adj_count_

private

Definition at line 238 of file urg_c_wrapper.h.

◆ cluster_

int urg_node::URGCWrapper::cluster_

private

Definition at line 226 of file urg_c_wrapper.h.

◆ data_

std::vector<long> urg_node::URGCWrapper::data_

private

Definition at line 218 of file urg_c_wrapper.h.

◆ first_step_

int urg_node::URGCWrapper::first_step_

private

Definition at line 224 of file urg_c_wrapper.h.

◆ frame_id_

std::string urg_node::URGCWrapper::frame_id_

private

Output frame_id for each laserscan.

Definition at line 213 of file urg_c_wrapper.h.

◆ hardware_clock_

double urg_node::URGCWrapper::hardware_clock_

private

Definition at line 234 of file urg_c_wrapper.h.

◆ hardware_clock_adj_

double urg_node::URGCWrapper::hardware_clock_adj_

private

Definition at line 236 of file urg_c_wrapper.h.

◆ intensity_

std::vector<unsigned short> urg_node::URGCWrapper::intensity_

private

Definition at line 219 of file urg_c_wrapper.h.

◆ ip_address_

std::string urg_node::URGCWrapper::ip_address_

private

Definition at line 240 of file urg_c_wrapper.h.

◆ ip_port_

int urg_node::URGCWrapper::ip_port_

private

Definition at line 241 of file urg_c_wrapper.h.

◆ last_hardware_time_stamp_

long urg_node::URGCWrapper::last_hardware_time_stamp_

private

Definition at line 235 of file urg_c_wrapper.h.

◆ last_step_

int urg_node::URGCWrapper::last_step_

private

Definition at line 225 of file urg_c_wrapper.h.

◆ measurement_type_

urg_measurement_type_t urg_node::URGCWrapper::measurement_type_

private

Definition at line 223 of file urg_c_wrapper.h.

◆ serial_baud_

int urg_node::URGCWrapper::serial_baud_

private

Definition at line 243 of file urg_c_wrapper.h.

◆ serial_port_

std::string urg_node::URGCWrapper::serial_port_

private

Definition at line 242 of file urg_c_wrapper.h.

◆ skip_

int urg_node::URGCWrapper::skip_

private

Definition at line 227 of file urg_c_wrapper.h.

◆ started_

bool urg_node::URGCWrapper::started_

private

Definition at line 216 of file urg_c_wrapper.h.

◆ synchronize_time_

bool urg_node::URGCWrapper::synchronize_time_

private

Definition at line 233 of file urg_c_wrapper.h.

◆ system_latency_

ros::Duration urg_node::URGCWrapper::system_latency_

private

Definition at line 229 of file urg_c_wrapper.h.

◆ urg_

urg_t urg_node::URGCWrapper::urg_

private

Definition at line 215 of file urg_c_wrapper.h.

◆ use_intensity_

bool urg_node::URGCWrapper::use_intensity_

private

Definition at line 221 of file urg_c_wrapper.h.

◆ use_multiecho_

bool urg_node::URGCWrapper::use_multiecho_

private

Definition at line 222 of file urg_c_wrapper.h.

◆ user_latency_

ros::Duration urg_node::URGCWrapper::user_latency_

private

Definition at line 230 of file urg_c_wrapper.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

◆ URGCWrapper() [1/2]

◆ URGCWrapper() [2/2]

◆ ~URGCWrapper()

Member Function Documentation

◆ checkCRC()

◆ computeLatency()

◆ getAngleIncrement()

◆ getAngleMax()

◆ getAngleMaxLimit()

◆ getAngleMin()

◆ getAngleMinLimit()

◆ getAngularTimeOffset()

◆ getAR00Status()

◆ getComputedLatency()

◆ getDeviceID()

◆ getDL00Status()

◆ getFirmwareDate()

◆ getFirmwareVersion()

◆ getIPAddress()

◆ getIPPort()

◆ getNativeClockOffset()

◆ getProductName()

◆ getProtocolVersion()

◆ getRangeMax()

◆ getRangeMin()

◆ getScanPeriod()

◆ getSensorState()

◆ getSensorStatus()

◆ getSerialBaud()

◆ getSerialPort()

◆ getSynchronizedTime()

◆ getTimeIncrement()

◆ getTimeStampOffset()

◆ getUserTimeOffset()

◆ getVendorName()

◆ grabScan() [1/2]

◆ grabScan() [2/2]

◆ initialize()

◆ isIntensitySupported()

◆ isMultiEchoSupported()

◆ isStarted()

◆ sendCommand()

◆ setAngleLimitsAndCluster()

◆ setFrameId()

◆ setSkip()

◆ setToSCIP2()

◆ setUserLatency()

◆ start()

◆ stop()

Member Data Documentation

◆ adj_alpha_

◆ adj_count_

◆ cluster_

◆ data_

◆ first_step_

◆ frame_id_

◆ hardware_clock_

◆ hardware_clock_adj_

◆ intensity_

◆ ip_address_

◆ ip_port_

◆ last_hardware_time_stamp_

◆ last_step_

◆ measurement_type_

◆ serial_baud_

◆ serial_port_

◆ skip_

◆ started_

◆ synchronize_time_

◆ system_latency_

◆ urg_

◆ use_intensity_

◆ use_multiecho_

◆ user_latency_