vesc_ackermann::AckermannToVesc Class Reference

#include <ackermann_to_vesc.h>

Public Member Functions
	AckermannToVesc (ros::NodeHandle nh, ros::NodeHandle private_nh)

Private Member Functions
void	ackermannCmdCallback (const ackermann_msgs::AckermannDriveStamped::ConstPtr &cmd)

Private Attributes
double	accel_to_brake_gain_
double	accel_to_current_gain_
ros::Subscriber	ackermann_sub_
ros::Publisher	brake_pub_
ros::Publisher	current_pub_
ros::Publisher	erpm_pub_
bool	previous_mode_speed_ = true
ros::Publisher	servo_pub_
double	speed_to_erpm_gain_
double	speed_to_erpm_offset_
double	steering_to_servo_gain_
double	steering_to_servo_offset_

Detailed Description

Definition at line 37 of file ackermann_to_vesc.h.

Constructor & Destructor Documentation

AckermannToVesc()

vesc_ackermann::AckermannToVesc::AckermannToVesc	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh
	)

Definition at line 42 of file ackermann_to_vesc.cpp.

Member Function Documentation

ackermannCmdCallback()

void vesc_ackermann::AckermannToVesc::ackermannCmdCallback ( const ackermann_msgs::AckermannDriveStamped::ConstPtr &  cmd )

private

Definition at line 69 of file ackermann_to_vesc.cpp.

Member Data Documentation

accel_to_brake_gain_

double vesc_ackermann::AckermannToVesc::accel_to_brake_gain_

private

Definition at line 47 of file ackermann_to_vesc.h.

accel_to_current_gain_

double vesc_ackermann::AckermannToVesc::accel_to_current_gain_

private

Definition at line 47 of file ackermann_to_vesc.h.

ackermann_sub_

ros::Subscriber vesc_ackermann::AckermannToVesc::ackermann_sub_

private

Definition at line 57 of file ackermann_to_vesc.h.

brake_pub_

ros::Publisher vesc_ackermann::AckermannToVesc::brake_pub_

private

Definition at line 56 of file ackermann_to_vesc.h.

current_pub_

ros::Publisher vesc_ackermann::AckermannToVesc::current_pub_

private

Definition at line 55 of file ackermann_to_vesc.h.

erpm_pub_

ros::Publisher vesc_ackermann::AckermannToVesc::erpm_pub_

private

Todo:

consider also providing an interpolated look-up table conversion

Definition at line 53 of file ackermann_to_vesc.h.

previous_mode_speed_

bool vesc_ackermann::AckermannToVesc::previous_mode_speed_ = true

private

Definition at line 45 of file ackermann_to_vesc.h.

servo_pub_

ros::Publisher vesc_ackermann::AckermannToVesc::servo_pub_

private

Definition at line 54 of file ackermann_to_vesc.h.

speed_to_erpm_gain_

double vesc_ackermann::AckermannToVesc::speed_to_erpm_gain_

private

Definition at line 46 of file ackermann_to_vesc.h.

speed_to_erpm_offset_

double vesc_ackermann::AckermannToVesc::speed_to_erpm_offset_

private

Definition at line 46 of file ackermann_to_vesc.h.

steering_to_servo_gain_

double vesc_ackermann::AckermannToVesc::steering_to_servo_gain_

private

Definition at line 48 of file ackermann_to_vesc.h.

steering_to_servo_offset_

double vesc_ackermann::AckermannToVesc::steering_to_servo_offset_

private

Definition at line 48 of file ackermann_to_vesc.h.

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

• ackermann_to_vesc.h
• ackermann_to_vesc.cpp