IRI ROS Specific Algorithm Class. More...

#include <laser_localisation_alg_node.h>

Inheritance diagram for LaserLocalisationAlgNode:

Public Member Functions
	LaserLocalisationAlgNode (void)
	Constructor.
	~LaserLocalisationAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	ROS_INFO_XYR (const std::string &str, const tf::Transform &tftrans)
Private Member Functions
void	calc_T_mapa_odom_ (sensor_msgs::LaserScan const &scan_ref, sensor_msgs::LaserScan const &scan_sens, geometry_msgs::Pose const &pose_ref)
	============================================================================
bool	estimateCallback (iri_laser_localisation::DoEstimation::Request &req, iri_laser_localisation::DoEstimation::Response &res)
bool	localiseCallback (iri_laser_localisation::DoLocalisation::Request &req, iri_laser_localisation::DoLocalisation::Response &res)
void	pose_ref_callback (const geometry_msgs::Pose::ConstPtr &msg)
void	scan_ref_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	scan_sens_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
CMutex	estimate_mutex_
ros::ServiceServer	estimate_server_
ros::ServiceClient	get_relative_pose_client_
iri_laser_icp::GetRelativePose	get_relative_pose_srv_
CMutex	localise_mutex_
ros::ServiceServer	localise_server_
std::string	map_frame_
std::string	odom_frame_
ros::Publisher	pose_publisher_
geometry_msgs::Pose	pose_ref_
CMutex	pose_ref_mutex_
ros::Subscriber	pose_ref_subscriber_
geometry_msgs::PoseWithCovarianceStamped	PoseWithCovarianceStamped_msg_
bool	received_pose_ref_
bool	received_ref_
bool	received_sens_
sensor_msgs::LaserScan	scan_ref_
CMutex	scan_ref_mutex_
ros::Subscriber	scan_ref_subscriber_
sensor_msgs::LaserScan	scan_sens_
CMutex	scan_sens_mutex_
ros::Subscriber	scan_sens_subscriber_
tf::Transform	T_base_odom_
tf::Transform	T_mapa_odom_
tf::Transform	T_mapa_odom_init_est_
tf::Transform	T_mapa_path_
tf::Transform	T_path_base_
tf::TransformBroadcaster	tfb_
tf::TransformListener	tfl_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file laser_localisation_alg_node.h.

Constructor & Destructor Documentation

LaserLocalisationAlgNode::LaserLocalisationAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file laser_localisation_alg_node.cpp.

LaserLocalisationAlgNode::~LaserLocalisationAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 46 of file laser_localisation_alg_node.cpp.

Member Function Documentation

void LaserLocalisationAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< LaserLocalisationAlgorithm >.

Definition at line 196 of file laser_localisation_alg_node.cpp.

void LaserLocalisationAlgNode::calc_T_mapa_odom_	(	sensor_msgs::LaserScan const &	scan_ref,
		sensor_msgs::LaserScan const &	scan_sens,
		geometry_msgs::Pose const &	pose_ref
	)		`[private]`

============================================================================

T_path_base_

T_base_odom_

T_mapa_path_

T_mapa_odom_

Definition at line 202 of file laser_localisation_alg_node.cpp.

bool LaserLocalisationAlgNode::estimateCallback	(	iri_laser_localisation::DoEstimation::Request &	req,
		iri_laser_localisation::DoEstimation::Response &	res
	)		`[private]`

Definition at line 111 of file laser_localisation_alg_node.cpp.

bool LaserLocalisationAlgNode::localiseCallback	(	iri_laser_localisation::DoLocalisation::Request &	req,
		iri_laser_localisation::DoLocalisation::Response &	res
	)		`[private]`

Definition at line 157 of file laser_localisation_alg_node.cpp.

void LaserLocalisationAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< LaserLocalisationAlgorithm >.

Definition at line 51 of file laser_localisation_alg_node.cpp.

void LaserLocalisationAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< LaserLocalisationAlgorithm >.

Definition at line 189 of file laser_localisation_alg_node.cpp.

void LaserLocalisationAlgNode::pose_ref_callback ( const geometry_msgs::Pose::ConstPtr & msg ) [private]

Definition at line 96 of file laser_localisation_alg_node.cpp.