IRI ROS Specific Algorithm Class. More...

#include <compass_odom_alg_node.h>

Inheritance diagram for CompassOdomAlgNode:

Public Member Functions
	CompassOdomAlgNode (void)
	Constructor.
	~CompassOdomAlgNode (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
Protected Attributes
tf::TransformBroadcaster	compass_odom_broadcaster_
	odometry tf broadcaster
Private Member Functions
void	compass_callback (const iri_common_drivers_msgs::compass3axis &msg)
Private Attributes
bool	compass_arrived_
ros::Publisher	compass_imu_publisher_
CMutex	compass_mutex_
ros::Publisher	compass_odom_publisher_
ros::Subscriber	compass_subscriber_
CEventServer *	ES
	event server
sensor_msgs::Imu	Imu_msg_
nav_msgs::Odometry	Odometry_msg_
std::string	parent_id_
bool	publish_imu_
bool	publish_tf_
std::list< std::string >	SUBS_LIST
std::string	TCM3_IN
	unique name of the event
geometry_msgs::TransformStamped	Transform_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file compass_odom_alg_node.h.

Constructor & Destructor Documentation

CompassOdomAlgNode::CompassOdomAlgNode ( void )

Constructor.

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

Definition at line 3 of file compass_odom_alg_node.cpp.

CompassOdomAlgNode::~CompassOdomAlgNode ( void )

Destructor.

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

Definition at line 47 of file compass_odom_alg_node.cpp.

Member Function Documentation

void CompassOdomAlgNode::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< CompassOdomAlgorithm >.

Definition at line 119 of file compass_odom_alg_node.cpp.

void CompassOdomAlgNode::compass_callback ( const iri_common_drivers_msgs::compass3axis & msg ) [private]

Definition at line 78 of file compass_odom_alg_node.cpp.

void CompassOdomAlgNode::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< CompassOdomAlgorithm >.

Definition at line 52 of file compass_odom_alg_node.cpp.

void CompassOdomAlgNode::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< CompassOdomAlgorithm >.

Definition at line 115 of file compass_odom_alg_node.cpp.