iotbot::IOTBot Class Reference

#include <IOTBot.h>

Public Member Functions
	IOTBot (ChassisParams &chassisParams, MotorParams &motorParams)
void	run ()
	~IOTBot ()

Private Member Functions
bool	calibrateCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
void	controlMotors (float vFwd, float vLeft, float omega)
bool	enableCallback (std_srvs::SetBool::Request &request, std_srvs::SetBool::Response &response)
bool	fixIMUZAxisCallback (std_srvs::SetBool::Request &request, std_srvs::SetBool::Response &response)
void	joyCallback (const sensor_msgs::Joy::ConstPtr &joy)
void	velocityCallback (const geometry_msgs::Twist::ConstPtr &cmd)

Private Attributes
ChassisParams	_chassisParams
bool	_enableYMotion
ros::Time	_lastCmd
MotorParams *	_motorParams
float	_ms2rpm
ros::NodeHandle	_nh
float	_omegaMax
ros::Publisher	_pubCurrent
ros::Publisher	_pubIMU
ros::Publisher	_pubPose
ros::Publisher	_pubRPM
ros::Publisher	_pubTemp
ros::Publisher	_pubToF
ros::Publisher	_pubVoltage
float	_rad2rpm
unsigned char	_rgb [3]
float	_rpm [4]
float	_rpm2ms
float	_rpm2rad
IOTShield *	_shield
ros::ServiceServer	_srvCali
ros::ServiceServer	_srvEnable
ros::ServiceServer	_srvFix
ros::Subscriber	_subJoy
ros::Subscriber	_subVel
float	_vMax

Detailed Description

Definition at line 108 of file IOTBot.h.

Constructor & Destructor Documentation

IOTBot()

iotbot::IOTBot::IOTBot	(	ChassisParams &	chassisParams,
		MotorParams &	motorParams
	)

Standard Constructor @params[in] chassisParams chassis parameters, including the map for assigning channels to position of wheels @params[in] motorParams motor parameters

Definition at line 9 of file IOTBot.cpp.

~IOTBot()

iotbot::IOTBot::~IOTBot

(

)

Destructor

Definition at line 63 of file IOTBot.cpp.

Member Function Documentation

calibrateCallback()

bool iotbot::IOTBot::calibrateCallback ( std_srvs::Empty::Request &  request, std_srvs::Empty::Response &  response  )

private

ROS service callback for triggering IMU calibration

Returns

success state

Definition at line 183 of file IOTBot.cpp.

controlMotors()

void iotbot::IOTBot::controlMotors ( float  vFwd, float  vLeft, float  omega  )

private

Normalize motion command and assign it to the channels

Parameters

[in]	vFwd	forward velocity (x-axis)
[in]	vLeft	velocity to the left (y-axis)
[in]	omega	angular velocity (around z-axis)

Definition at line 299 of file IOTBot.cpp.

enableCallback()

bool iotbot::IOTBot::enableCallback ( std_srvs::SetBool::Request &  request, std_srvs::SetBool::Response &  response  )

private

ROS service callback for enabling robot

Parameters

[in]	request	service request data
[out]	response	service response data

Returns

success state

Definition at line 167 of file IOTBot.cpp.

fixIMUZAxisCallback()

bool iotbot::IOTBot::fixIMUZAxisCallback ( std_srvs::SetBool::Request &  request, std_srvs::SetBool::Response &  response  )

private

ROS service callback for fixing the IMU's yaw angle estimation

Parameters

[in]	request	service request data
[out]	response	service response data

Returns

success state

Definition at line 190 of file IOTBot.cpp.

joyCallback()

void iotbot::IOTBot::joyCallback ( const sensor_msgs::Joy::ConstPtr &  joy )

private

ROS joystick callback

Parameters

[in]

joy

message with joystick command

Definition at line 198 of file IOTBot.cpp.

run()

void iotbot::IOTBot::run

(

)

ROS main loop (blocking method)

Definition at line 70 of file IOTBot.cpp.

velocityCallback()

void iotbot::IOTBot::velocityCallback ( const geometry_msgs::Twist::ConstPtr &  cmd )

private

ROS command velocity callback

Parameters

[in]

cmd

message with velocity command

Definition at line 294 of file IOTBot.cpp.

Member Data Documentation

_chassisParams

ChassisParams iotbot::IOTBot::_chassisParams

private

Definition at line 186 of file IOTBot.h.

_enableYMotion

bool iotbot::IOTBot::_enableYMotion

private

Definition at line 212 of file IOTBot.h.

_lastCmd

ros::Time iotbot::IOTBot::_lastCmd

private

Definition at line 218 of file IOTBot.h.

_motorParams

MotorParams* iotbot::IOTBot::_motorParams

private

Definition at line 187 of file IOTBot.h.

_ms2rpm

float iotbot::IOTBot::_ms2rpm

private

Definition at line 200 of file IOTBot.h.

_nh

ros::NodeHandle iotbot::IOTBot::_nh

private

Definition at line 173 of file IOTBot.h.

_omegaMax

float iotbot::IOTBot::_omegaMax

private

Definition at line 197 of file IOTBot.h.

_pubCurrent

ros::Publisher iotbot::IOTBot::_pubCurrent

private

Definition at line 182 of file IOTBot.h.

_pubIMU

ros::Publisher iotbot::IOTBot::_pubIMU

private

Definition at line 183 of file IOTBot.h.

_pubPose

ros::Publisher iotbot::IOTBot::_pubPose

private

Definition at line 184 of file IOTBot.h.

_pubRPM

ros::Publisher iotbot::IOTBot::_pubRPM

private

Definition at line 180 of file IOTBot.h.

_pubTemp

ros::Publisher iotbot::IOTBot::_pubTemp

private

Definition at line 185 of file IOTBot.h.

_pubToF

ros::Publisher iotbot::IOTBot::_pubToF

private

Definition at line 179 of file IOTBot.h.

_pubVoltage

ros::Publisher iotbot::IOTBot::_pubVoltage

private

Definition at line 181 of file IOTBot.h.

_rad2rpm

float iotbot::IOTBot::_rad2rpm

private

Definition at line 206 of file IOTBot.h.

_rgb

unsigned char iotbot::IOTBot::_rgb[3]

private

Definition at line 215 of file IOTBot.h.

_rpm

float iotbot::IOTBot::_rpm[4]

private

Definition at line 191 of file IOTBot.h.

_rpm2ms

float iotbot::IOTBot::_rpm2ms

private

Definition at line 203 of file IOTBot.h.

_rpm2rad

float iotbot::IOTBot::_rpm2rad

private

Definition at line 209 of file IOTBot.h.

_shield

IOTShield* iotbot::IOTBot::_shield

private

Definition at line 188 of file IOTBot.h.

_srvCali

ros::ServiceServer iotbot::IOTBot::_srvCali

private

Definition at line 177 of file IOTBot.h.

_srvEnable

ros::ServiceServer iotbot::IOTBot::_srvEnable

private

Definition at line 176 of file IOTBot.h.

_srvFix

ros::ServiceServer iotbot::IOTBot::_srvFix

private

Definition at line 178 of file IOTBot.h.

_subJoy

ros::Subscriber iotbot::IOTBot::_subJoy

private

Definition at line 174 of file IOTBot.h.

_subVel

ros::Subscriber iotbot::IOTBot::_subVel

private

Definition at line 175 of file IOTBot.h.

_vMax

float iotbot::IOTBot::_vMax

private

Definition at line 194 of file IOTBot.h.

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

• IOTBot.h
• IOTBot.cpp