IRI ROS Specific Algorithm Class. More...

#include <segway_rmp200_odom_alg_node.h>

Inheritance diagram for SegwayRmp200OdomAlgNode:

Public Member Functions
	SegwayRmp200OdomAlgNode (void)
	Constructor.
	~SegwayRmp200OdomAlgNode (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	odom_broadcaster_
Private Member Functions
void	segway_status_callback (const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr &msg)
Private Attributes
std::string	base_footprint_id_
std::string	base_link_id_
std::string	odom_id_
ros::Publisher	odom_publisher_
nav_msgs::Odometry	Odometry_msg_
geometry_msgs::PoseWithCovariance	pose_
bool	publish_tf_
CMutex	segway_status_mutex_
ros::Subscriber	segway_status_subscriber_
iri_segway_rmp_msgs::SegwayRMP200Status	status
std::string	tf_prefix_
geometry_msgs::Transform	transform_
geometry_msgs::Transform	transform_pitch_
geometry_msgs::TwistWithCovariance	twist_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file segway_rmp200_odom_alg_node.h.

Constructor & Destructor Documentation

SegwayRmp200OdomAlgNode::SegwayRmp200OdomAlgNode ( void )

Constructor.

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

Definition at line 3 of file segway_rmp200_odom_alg_node.cpp.

SegwayRmp200OdomAlgNode::~SegwayRmp200OdomAlgNode ( void )

Destructor.

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

Definition at line 38 of file segway_rmp200_odom_alg_node.cpp.

Member Function Documentation

void SegwayRmp200OdomAlgNode::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< SegwayRmp200OdomAlgorithm >.

Definition at line 181 of file segway_rmp200_odom_alg_node.cpp.

void SegwayRmp200OdomAlgNode::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< SegwayRmp200OdomAlgorithm >.

Definition at line 43 of file segway_rmp200_odom_alg_node.cpp.

void SegwayRmp200OdomAlgNode::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< SegwayRmp200OdomAlgorithm >.

Definition at line 174 of file segway_rmp200_odom_alg_node.cpp.

void SegwayRmp200OdomAlgNode::segway_status_callback ( const iri_segway_rmp_msgs::SegwayRMP200Status::ConstPtr & msg ) [private]

Definition at line 135 of file segway_rmp200_odom_alg_node.cpp.