lidarbroadcast Namespace Reference

Functions
def	cleanup ()
def	dynamicConfigCallback (config, level)
def	odomCallback (data)
def	readlidar (ser)
def	rebroadcast ()
def	updateHeaderOffset ()
def	updateMasks (string)
def	updateParkOffset ()
def	updateReadInterval ()
def	updateRotateForwardOffset ()
def	updateRPM ()

Variables
bool	BROADCASTLAST = True
	client = dynamic_reconfigure.client.Client("lidarbroadcast", timeout=30)
bool	DEBUGOUTPUT = True
	device = usbdiscover
int	DIR = 1
int	dropscan_degpersec = 0
int	dropScanTurnRateThreshold = 0
bool	enable = True
	forward_offset = headeroffset
	frameID = rospy.get_param('~frame_id', 'laser_frame')
	headeroffset = None
	lastodomth = None
int	lastodomtime = 0
int	lastscantime = 0
bool	lidarrunning = False
	line = ser.readline().strip()
list	masks = []
float	maximum_range = 40.0
float	minimum_range = 0.0
int	nominalcycle = 1/(rpm/60.0)
int	park_offset = parkoffset
int	parkoffset = 0
int	read_frequency = 0
float	readInterval = 0.0014
	rebroadcastscan = None
int	rotate_forward_offset = rotateforwardoffset
int	rotateforwardoffset = 0
int	rpm = 180
int	rpm_ = rpm
	scan = None
	scan_pub = rospy.Publisher(rospy.get_param('~scan_topic', 'scan'), LaserScan, queue_size=3)
	ser = None
bool	turning = False
int	turnrate = 0

Function Documentation

cleanup()

def lidarbroadcast.cleanup

(

)

Definition at line 45 of file lidarbroadcast.py.

dynamicConfigCallback()

def lidarbroadcast.dynamicConfigCallback	(		config,
			level
	)

Definition at line 93 of file lidarbroadcast.py.

odomCallback()

def lidarbroadcast.odomCallback

(

data

)

Definition at line 65 of file lidarbroadcast.py.

readlidar()

def lidarbroadcast.readlidar

(

ser

)

Definition at line 276 of file lidarbroadcast.py.

rebroadcast()

def lidarbroadcast.rebroadcast

(

)

Definition at line 457 of file lidarbroadcast.py.

updateHeaderOffset()

def lidarbroadcast.updateHeaderOffset

(

)

Definition at line 126 of file lidarbroadcast.py.

updateMasks()

def lidarbroadcast.updateMasks

(

string

)

Definition at line 159 of file lidarbroadcast.py.

updateParkOffset()

def lidarbroadcast.updateParkOffset

(

)

Definition at line 196 of file lidarbroadcast.py.

updateReadInterval()

def lidarbroadcast.updateReadInterval

(

)

Definition at line 216 of file lidarbroadcast.py.

updateRotateForwardOffset()

def lidarbroadcast.updateRotateForwardOffset

(

)

Definition at line 236 of file lidarbroadcast.py.

updateRPM()

def lidarbroadcast.updateRPM

(

)

Definition at line 181 of file lidarbroadcast.py.

Variable Documentation

BROADCASTLAST

bool lidarbroadcast.BROADCASTLAST = True

Definition at line 41 of file lidarbroadcast.py.

client

lidarbroadcast.client = dynamic_reconfigure.client.Client("lidarbroadcast", timeout=30)

Definition at line 475 of file lidarbroadcast.py.

DEBUGOUTPUT

bool lidarbroadcast.DEBUGOUTPUT = True

Definition at line 43 of file lidarbroadcast.py.

device

lidarbroadcast.device = usbdiscover

Definition at line 476 of file lidarbroadcast.py.

DIR

int lidarbroadcast.DIR = 1

Definition at line 42 of file lidarbroadcast.py.

dropscan_degpersec

int lidarbroadcast.dropscan_degpersec = 0

Definition at line 19 of file lidarbroadcast.py.

dropScanTurnRateThreshold

int lidarbroadcast.dropScanTurnRateThreshold = 0

Definition at line 26 of file lidarbroadcast.py.

enable

bool lidarbroadcast.enable = True

Definition at line 22 of file lidarbroadcast.py.

forward_offset

lidarbroadcast.forward_offset = headeroffset

Definition at line 32 of file lidarbroadcast.py.

frameID

lidarbroadcast.frameID = rospy.get_param('~frame_id', 'laser_frame')

Definition at line 472 of file lidarbroadcast.py.

headeroffset

lidarbroadcast.headeroffset = None

Definition at line 12 of file lidarbroadcast.py.

lastodomth

lidarbroadcast.lastodomth = None

Definition at line 27 of file lidarbroadcast.py.

lastodomtime

int lidarbroadcast.lastodomtime = 0

Definition at line 28 of file lidarbroadcast.py.

lastscantime

int lidarbroadcast.lastscantime = 0

Definition at line 40 of file lidarbroadcast.py.

lidarrunning

bool lidarbroadcast.lidarrunning = False

Definition at line 24 of file lidarbroadcast.py.

line

string lidarbroadcast.line = ser.readline().strip()

Definition at line 485 of file lidarbroadcast.py.

masks

list lidarbroadcast.masks = []

Definition at line 13 of file lidarbroadcast.py.

maximum_range

float lidarbroadcast.maximum_range = 40.0

Definition at line 15 of file lidarbroadcast.py.

minimum_range

float lidarbroadcast.minimum_range = 0.0

Definition at line 14 of file lidarbroadcast.py.

nominalcycle

int lidarbroadcast.nominalcycle = 1/(rpm/60.0)

Definition at line 18 of file lidarbroadcast.py.

park_offset

int lidarbroadcast.park_offset = parkoffset

Definition at line 33 of file lidarbroadcast.py.

parkoffset

int lidarbroadcast.parkoffset = 0

Definition at line 20 of file lidarbroadcast.py.

read_frequency

int lidarbroadcast.read_frequency = 0

Definition at line 34 of file lidarbroadcast.py.

readInterval

float lidarbroadcast.readInterval = 0.0014

Definition at line 16 of file lidarbroadcast.py.

rebroadcastscan

lidarbroadcast.rebroadcastscan = None

Definition at line 39 of file lidarbroadcast.py.

rotate_forward_offset

int lidarbroadcast.rotate_forward_offset = rotateforwardoffset

Definition at line 35 of file lidarbroadcast.py.

rotateforwardoffset

int lidarbroadcast.rotateforwardoffset = 0

Definition at line 21 of file lidarbroadcast.py.

rpm

int lidarbroadcast.rpm = 180

Definition at line 17 of file lidarbroadcast.py.

rpm_

int lidarbroadcast.rpm_ = rpm

Definition at line 36 of file lidarbroadcast.py.

scan

lidarbroadcast.scan = None

Definition at line 38 of file lidarbroadcast.py.

scan_pub

lidarbroadcast.scan_pub = rospy.Publisher(rospy.get_param('~scan_topic', 'scan'), LaserScan, queue_size=3)

Definition at line 470 of file lidarbroadcast.py.

ser

lidarbroadcast.ser = None

Definition at line 23 of file lidarbroadcast.py.

turning

bool lidarbroadcast.turning = False

Definition at line 29 of file lidarbroadcast.py.

turnrate

int lidarbroadcast.turnrate = 0

Definition at line 30 of file lidarbroadcast.py.