Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
YpspurRosNode Class Reference

Classes

class  AdParams
 
class  DioParams
 
class  JointParams
 

Public Member Functions

bool spin ()
 
 YpspurRosNode ()
 
 ~YpspurRosNode ()
 

Private Types

enum  OdometryMode { DIFF, NONE }
 

Private Member Functions

void cbAngle (const std_msgs::Float32::ConstPtr &msg, int num)
 
void cbCmdVel (const geometry_msgs::Twist::ConstPtr &msg)
 
void cbControlMode (const ypspur_ros::ControlMode::ConstPtr &msg)
 
void cbDigitalOutput (const ypspur_ros::DigitalOutput::ConstPtr &msg, int id_)
 
void cbJoint (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
 
void cbJointPosition (const ypspur_ros::JointPositionControl::ConstPtr &msg)
 
void cbSetAccel (const std_msgs::Float32::ConstPtr &msg, int num)
 
void cbSetVel (const std_msgs::Float32::ConstPtr &msg, int num)
 
void cbVel (const std_msgs::Float32::ConstPtr &msg, int num)
 
void revertDigitalOutput (int id_)
 
void updateDiagnostics (const ros::Time &now, const bool connection_down=false)
 

Private Attributes

const int ad_num_ = 8
 
std::vector< AdParams > ads_
 
bool avoid_publishing_duplicated_joints_
 
bool avoid_publishing_duplicated_odom_
 
geometry_msgs::Twist::ConstPtr cmd_vel_
 
ros::Duration cmd_vel_expire_
 
ros::Time cmd_vel_time_
 
int control_mode_
 
int device_error_state_
 
int device_error_state_prev_
 
ros::Time device_error_state_time_
 
bool digital_input_enable_
 
unsigned int dio_dir_
 
unsigned int dio_dir_default_
 
const int dio_num_ = 8
 
unsigned int dio_output_
 
unsigned int dio_output_default_
 
std::map< int, ros::Time > dio_revert_
 
std::vector< DioParams > dios_
 
std::map< std::string, std::string > frames_
 
std::map< std::string, int > joint_name_to_num_
 
std::vector< JointParams > joints_
 
int key_
 
OdometryMode mode_
 
ros::NodeHandle nh_
 
std::string param_file_
 
std::map< std::string, double > params_
 
pid_t pid_
 
ros::NodeHandle pnh_
 
std::string port_
 
ros::Time previous_joints_stamp_
 
ros::Time previous_odom_stamp_
 
bool publish_odom_tf_
 
std::map< std::string, ros::Publisher > pubs_
 
bool simulate_
 
bool simulate_control_
 
std::map< std::string, ros::Subscriber > subs_
 
tf2_ros::TransformBroadcaster tf_broadcaster_
 
tf2_ros::Buffer tf_buffer_
 
tf2_ros::TransformListener tf_listener_
 
double tf_time_offset_
 
std::string ypspur_bin_
 
const tf2::Vector3 z_axis_
 

Detailed Description

Definition at line 81 of file ypspur_ros.cpp.

Member Enumeration Documentation

◆ OdometryMode

enum YpspurRosNode::OdometryMode
private
Enumerator
DIFF 
NONE 

Definition at line 106 of file ypspur_ros.cpp.

Constructor & Destructor Documentation

◆ YpspurRosNode()

YpspurRosNode::YpspurRosNode ( )
inline

Definition at line 431 of file ypspur_ros.cpp.

◆ ~YpspurRosNode()

YpspurRosNode::~YpspurRosNode ( )
inline

Definition at line 772 of file ypspur_ros.cpp.

Member Function Documentation

◆ cbAngle()

void YpspurRosNode::cbAngle ( const std_msgs::Float32::ConstPtr &  msg,
int  num 
)
inlineprivate

Definition at line 277 of file ypspur_ros.cpp.

◆ cbCmdVel()

void YpspurRosNode::cbCmdVel ( const geometry_msgs::Twist::ConstPtr &  msg)
inlineprivate

Definition at line 193 of file ypspur_ros.cpp.

◆ cbControlMode()

void YpspurRosNode::cbControlMode ( const ypspur_ros::ControlMode::ConstPtr &  msg)
inlineprivate

Definition at line 178 of file ypspur_ros.cpp.

◆ cbDigitalOutput()

void YpspurRosNode::cbDigitalOutput ( const ypspur_ros::DigitalOutput::ConstPtr &  msg,
int  id_ 
)
inlineprivate

Definition at line 307 of file ypspur_ros.cpp.

◆ cbJoint()

void YpspurRosNode::cbJoint ( const trajectory_msgs::JointTrajectory::ConstPtr &  msg)
inlineprivate

Definition at line 202 of file ypspur_ros.cpp.

◆ cbJointPosition()

void YpspurRosNode::cbJointPosition ( const ypspur_ros::JointPositionControl::ConstPtr &  msg)
inlineprivate

Definition at line 283 of file ypspur_ros.cpp.

◆ cbSetAccel()

void YpspurRosNode::cbSetAccel ( const std_msgs::Float32::ConstPtr &  msg,
int  num 
)
inlineprivate

Definition at line 264 of file ypspur_ros.cpp.

◆ cbSetVel()

void YpspurRosNode::cbSetVel ( const std_msgs::Float32::ConstPtr &  msg,
int  num 
)
inlineprivate

Definition at line 258 of file ypspur_ros.cpp.

◆ cbVel()

void YpspurRosNode::cbVel ( const std_msgs::Float32::ConstPtr &  msg,
int  num 
)
inlineprivate

Definition at line 270 of file ypspur_ros.cpp.

◆ revertDigitalOutput()

void YpspurRosNode::revertDigitalOutput ( int  id_)
inlineprivate

Definition at line 345 of file ypspur_ros.cpp.

◆ spin()

bool YpspurRosNode::spin ( )
inline

Definition at line 784 of file ypspur_ros.cpp.

◆ updateDiagnostics()

void YpspurRosNode::updateDiagnostics ( const ros::Time &  now,
const bool  connection_down = false 
)
inlineprivate

Definition at line 363 of file ypspur_ros.cpp.

Member Data Documentation

◆ ad_num_

const int YpspurRosNode::ad_num_ = 8
private

Definition at line 154 of file ypspur_ros.cpp.

◆ ads_

std::vector<AdParams> YpspurRosNode::ads_
private

Definition at line 152 of file ypspur_ros.cpp.

◆ avoid_publishing_duplicated_joints_

bool YpspurRosNode::avoid_publishing_duplicated_joints_
private

Definition at line 172 of file ypspur_ros.cpp.

◆ avoid_publishing_duplicated_odom_

bool YpspurRosNode::avoid_publishing_duplicated_odom_
private

Definition at line 173 of file ypspur_ros.cpp.

◆ cmd_vel_

geometry_msgs::Twist::ConstPtr YpspurRosNode::cmd_vel_
private

Definition at line 166 of file ypspur_ros.cpp.

◆ cmd_vel_expire_

ros::Duration YpspurRosNode::cmd_vel_expire_
private

Definition at line 168 of file ypspur_ros.cpp.

◆ cmd_vel_time_

ros::Time YpspurRosNode::cmd_vel_time_
private

Definition at line 167 of file ypspur_ros.cpp.

◆ control_mode_

int YpspurRosNode::control_mode_
private

Definition at line 170 of file ypspur_ros.cpp.

◆ device_error_state_

int YpspurRosNode::device_error_state_
private

Definition at line 162 of file ypspur_ros.cpp.

◆ device_error_state_prev_

int YpspurRosNode::device_error_state_prev_
private

Definition at line 163 of file ypspur_ros.cpp.

◆ device_error_state_time_

ros::Time YpspurRosNode::device_error_state_time_
private

Definition at line 164 of file ypspur_ros.cpp.

◆ digital_input_enable_

bool YpspurRosNode::digital_input_enable_
private

Definition at line 151 of file ypspur_ros.cpp.

◆ dio_dir_

unsigned int YpspurRosNode::dio_dir_
private

Definition at line 156 of file ypspur_ros.cpp.

◆ dio_dir_default_

unsigned int YpspurRosNode::dio_dir_default_
private

Definition at line 158 of file ypspur_ros.cpp.

◆ dio_num_

const int YpspurRosNode::dio_num_ = 8
private

Definition at line 159 of file ypspur_ros.cpp.

◆ dio_output_

unsigned int YpspurRosNode::dio_output_
private

Definition at line 155 of file ypspur_ros.cpp.

◆ dio_output_default_

unsigned int YpspurRosNode::dio_output_default_
private

Definition at line 157 of file ypspur_ros.cpp.

◆ dio_revert_

std::map<int, ros::Time> YpspurRosNode::dio_revert_
private

Definition at line 160 of file ypspur_ros.cpp.

◆ dios_

std::vector<DioParams> YpspurRosNode::dios_
private

Definition at line 153 of file ypspur_ros.cpp.

◆ frames_

std::map<std::string, std::string> YpspurRosNode::frames_
private

Definition at line 96 of file ypspur_ros.cpp.

◆ joint_name_to_num_

std::map<std::string, int> YpspurRosNode::joint_name_to_num_
private

Definition at line 133 of file ypspur_ros.cpp.

◆ joints_

std::vector<JointParams> YpspurRosNode::joints_
private

Definition at line 132 of file ypspur_ros.cpp.

◆ key_

int YpspurRosNode::key_
private

Definition at line 98 of file ypspur_ros.cpp.

◆ mode_

OdometryMode YpspurRosNode::mode_
private

Definition at line 111 of file ypspur_ros.cpp.

◆ nh_

ros::NodeHandle YpspurRosNode::nh_
private

Definition at line 84 of file ypspur_ros.cpp.

◆ param_file_

std::string YpspurRosNode::param_file_
private

Definition at line 94 of file ypspur_ros.cpp.

◆ params_

std::map<std::string, double> YpspurRosNode::params_
private

Definition at line 97 of file ypspur_ros.cpp.

◆ pid_

pid_t YpspurRosNode::pid_
private

Definition at line 104 of file ypspur_ros.cpp.

◆ pnh_

ros::NodeHandle YpspurRosNode::pnh_
private

Definition at line 85 of file ypspur_ros.cpp.

◆ port_

std::string YpspurRosNode::port_
private

Definition at line 93 of file ypspur_ros.cpp.

◆ previous_joints_stamp_

ros::Time YpspurRosNode::previous_joints_stamp_
private

Definition at line 175 of file ypspur_ros.cpp.

◆ previous_odom_stamp_

ros::Time YpspurRosNode::previous_odom_stamp_
private

Definition at line 176 of file ypspur_ros.cpp.

◆ publish_odom_tf_

bool YpspurRosNode::publish_odom_tf_
private

Definition at line 174 of file ypspur_ros.cpp.

◆ pubs_

std::map<std::string, ros::Publisher> YpspurRosNode::pubs_
private

Definition at line 86 of file ypspur_ros.cpp.

◆ simulate_

bool YpspurRosNode::simulate_
private

Definition at line 99 of file ypspur_ros.cpp.

◆ simulate_control_

bool YpspurRosNode::simulate_control_
private

Definition at line 100 of file ypspur_ros.cpp.

◆ subs_

std::map<std::string, ros::Subscriber> YpspurRosNode::subs_
private

Definition at line 87 of file ypspur_ros.cpp.

◆ tf_broadcaster_

tf2_ros::TransformBroadcaster YpspurRosNode::tf_broadcaster_
private

Definition at line 90 of file ypspur_ros.cpp.

◆ tf_buffer_

tf2_ros::Buffer YpspurRosNode::tf_buffer_
private

Definition at line 88 of file ypspur_ros.cpp.

◆ tf_listener_

tf2_ros::TransformListener YpspurRosNode::tf_listener_
private

Definition at line 89 of file ypspur_ros.cpp.

◆ tf_time_offset_

double YpspurRosNode::tf_time_offset_
private

Definition at line 102 of file ypspur_ros.cpp.

◆ ypspur_bin_

std::string YpspurRosNode::ypspur_bin_
private

Definition at line 95 of file ypspur_ros.cpp.

◆ z_axis_

const tf2::Vector3 YpspurRosNode::z_axis_
private

Definition at line 91 of file ypspur_ros.cpp.

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

ypspur_ros
Author(s): Atsushi Watanabe
autogenerated on Mon Feb 19 2024 03:32:25