Class for moving the base around and calibrating imu and odometry. More...

#include <base_calibration.h>

Public Member Functions
bool	align (double angle, bool verbose=false)
	Align to the wall. More...

	BaseCalibration (ros::NodeHandle &n)
	Create a base calibration instance. More...

void	clearMessages ()
	Clear any received messages. More...

std::string	print ()
	Print out current calibration state. More...

std::string	printCalibrationData ()
	Print out the calibration data. More...

bool	spin (double velocity, int rotations, bool verbose=false)
	Spin and record imu, odom, scan. More...

Private Member Functions
void	imuCallback (const sensor_msgs::Imu::Ptr &imu)

void	laserCallback (const sensor_msgs::LaserScan::Ptr &scan)

void	odometryCallback (const nav_msgs::Odometry::Ptr &odom)

void	resetInternal ()
	Reset the odom/imu counters. More...

void	sendVelocityCommand (double vel)
	Send a rotational velocity command. More...

Private Attributes
double	accel_limit_

double	align_gain_

double	align_tolerance_

double	align_velocity_

ros::Publisher	cmd_pub_

boost::recursive_mutex	data_mutex_

std::vector< double >	imu_

double	imu_angle_

ros::Subscriber	imu_subscriber_

ros::Time	last_imu_stamp_

ros::Time	last_odom_stamp_

ros::Time	last_scan_stamp_

double	max_angle_

double	min_angle_

std::vector< double >	odom_

double	odom_angle_

ros::Subscriber	odom_subscriber_

double	r2_tolerance_

bool	ready_

std::vector< double >	scan_

double	scan_angle_

double	scan_dist_

double	scan_r2_

ros::Subscriber	scan_subscriber_

Detailed Description

Class for moving the base around and calibrating imu and odometry.

Definition at line 33 of file base_calibration.h.

Constructor & Destructor Documentation

◆ BaseCalibration()

robot_calibration::BaseCalibration::BaseCalibration ( ros::NodeHandle & n )

Create a base calibration instance.

Parameters

n	NodeHandle at global scope - will subscribe to odom, imu, and base_scan in that namespace.

Definition at line 36 of file base_calibration.cpp.

Member Function Documentation

◆ align()

bool robot_calibration::BaseCalibration::align	(	double	angle,
		bool	verbose = `false`
	)

Align to the wall.

Parameters

Angle	angle to align to wall.
verbose	Should the console output be stupidly verbose?

Definition at line 111 of file base_calibration.cpp.

◆ clearMessages()

void robot_calibration::BaseCalibration::clearMessages ( )

Clear any received messages.

Definition at line 70 of file base_calibration.cpp.

◆ imuCallback()

void robot_calibration::BaseCalibration::imuCallback ( const sensor_msgs::Imu::Ptr & imu )

private

Definition at line 219 of file base_calibration.cpp.

◆ laserCallback()

void robot_calibration::BaseCalibration::laserCallback ( const sensor_msgs::LaserScan::Ptr & scan )

private

Definition at line 229 of file base_calibration.cpp.

◆ odometryCallback()

void robot_calibration::BaseCalibration::odometryCallback ( const nav_msgs::Odometry::Ptr & odom )

private

Definition at line 209 of file base_calibration.cpp.

◆ print()

std::string robot_calibration::BaseCalibration::print ( )

Print out current calibration state.

Definition at line 77 of file base_calibration.cpp.

◆ printCalibrationData()

std::string robot_calibration::BaseCalibration::printCalibrationData ( )

Print out the calibration data.

Definition at line 84 of file base_calibration.cpp.

◆ resetInternal()

void robot_calibration::BaseCalibration::resetInternal ( )

private

Reset the odom/imu counters.

Definition at line 313 of file base_calibration.cpp.

◆ sendVelocityCommand()

void robot_calibration::BaseCalibration::sendVelocityCommand ( double vel )

private

Send a rotational velocity command.

Definition at line 306 of file base_calibration.cpp.

◆ spin()

bool robot_calibration::BaseCalibration::spin	(	double	velocity,
		int	rotations,
		bool	verbose = `false`
	)

Spin and record imu, odom, scan.

Definition at line 157 of file base_calibration.cpp.

Member Data Documentation

◆ accel_limit_

double robot_calibration::BaseCalibration::accel_limit_

private

Definition at line 88 of file base_calibration.h.

◆ align_gain_

double robot_calibration::BaseCalibration::align_gain_

private

Definition at line 89 of file base_calibration.h.

◆ align_tolerance_

double robot_calibration::BaseCalibration::align_tolerance_

private

Definition at line 89 of file base_calibration.h.

◆ align_velocity_

double robot_calibration::BaseCalibration::align_velocity_

private

Definition at line 89 of file base_calibration.h.

◆ cmd_pub_

ros::Publisher robot_calibration::BaseCalibration::cmd_pub_

private

Definition at line 72 of file base_calibration.h.

◆ data_mutex_

boost::recursive_mutex robot_calibration::BaseCalibration::data_mutex_

private

Definition at line 95 of file base_calibration.h.

◆ imu_

std::vector<double> robot_calibration::BaseCalibration::imu_

private

Definition at line 92 of file base_calibration.h.

◆ imu_angle_

double robot_calibration::BaseCalibration::imu_angle_

private

Definition at line 82 of file base_calibration.h.

◆ imu_subscriber_

ros::Subscriber robot_calibration::BaseCalibration::imu_subscriber_

private

Definition at line 75 of file base_calibration.h.

◆ last_imu_stamp_

ros::Time robot_calibration::BaseCalibration::last_imu_stamp_

private

Definition at line 81 of file base_calibration.h.

◆ last_odom_stamp_

ros::Time robot_calibration::BaseCalibration::last_odom_stamp_

private

Definition at line 78 of file base_calibration.h.

◆ last_scan_stamp_

ros::Time robot_calibration::BaseCalibration::last_scan_stamp_

private

Definition at line 84 of file base_calibration.h.

◆ max_angle_

double robot_calibration::BaseCalibration::max_angle_

private

Definition at line 87 of file base_calibration.h.

◆ min_angle_

double robot_calibration::BaseCalibration::min_angle_

private

Definition at line 87 of file base_calibration.h.

◆ odom_

std::vector<double> robot_calibration::BaseCalibration::odom_

private

Definition at line 93 of file base_calibration.h.

◆ odom_angle_

double robot_calibration::BaseCalibration::odom_angle_

private

Definition at line 79 of file base_calibration.h.

◆ odom_subscriber_

ros::Subscriber robot_calibration::BaseCalibration::odom_subscriber_

private

Definition at line 74 of file base_calibration.h.

◆ r2_tolerance_

double robot_calibration::BaseCalibration::r2_tolerance_

private

Definition at line 85 of file base_calibration.h.

◆ ready_

bool robot_calibration::BaseCalibration::ready_

private

Definition at line 96 of file base_calibration.h.

◆ scan_

std::vector<double> robot_calibration::BaseCalibration::scan_

private

Definition at line 91 of file base_calibration.h.

◆ scan_angle_

double robot_calibration::BaseCalibration::scan_angle_

private

Definition at line 85 of file base_calibration.h.

◆ scan_dist_

double robot_calibration::BaseCalibration::scan_dist_

private

Definition at line 85 of file base_calibration.h.

◆ scan_r2_

double robot_calibration::BaseCalibration::scan_r2_

private

Definition at line 85 of file base_calibration.h.

◆ scan_subscriber_

ros::Subscriber robot_calibration::BaseCalibration::scan_subscriber_

private

Definition at line 76 of file base_calibration.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

◆ BaseCalibration()

Member Function Documentation

◆ align()

◆ clearMessages()

◆ imuCallback()

◆ laserCallback()

◆ odometryCallback()

◆ print()

◆ printCalibrationData()

◆ resetInternal()

◆ sendVelocityCommand()

◆ spin()

Member Data Documentation

◆ accel_limit_

◆ align_gain_

◆ align_tolerance_

◆ align_velocity_

◆ cmd_pub_

◆ data_mutex_

◆ imu_

◆ imu_angle_

◆ imu_subscriber_

◆ last_imu_stamp_

◆ last_odom_stamp_

◆ last_scan_stamp_

◆ max_angle_

◆ min_angle_

◆ odom_

◆ odom_angle_

◆ odom_subscriber_

◆ r2_tolerance_

◆ ready_

◆ scan_

◆ scan_angle_

◆ scan_dist_

◆ scan_r2_

◆ scan_subscriber_