IRI ROS Specific Driver Class. More...

#include <segway_rmp400_driver_node.h>

Inheritance diagram for SegwayRmp400DriverNode:

Public Member Functions
	SegwayRmp400DriverNode (ros::NodeHandle &nh)
	constructor
	~SegwayRmp400DriverNode ()
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeOpenedTests (void)
	open status driver tests
void	addNodeRunningTests (void)
	run status driver tests
void	addNodeStoppedTests (void)
	stop status driver tests
void	mainNodeThread (void)
	main node thread
void	reconfigureNodeHook (int level)
	specific node dynamic reconfigure
Private Member Functions
void	cmd_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
void	postNodeOpenHook (void)
	post open hook
void	update_status (void)
Private Attributes
ros::Subscriber	cmd_vel_subscriber_
iri_segway_rmp_msgs::SegwayRMP400Status	segway_status_msg_
ros::Publisher	status_publisher_
tf::TransformBroadcaster	tf_broadcaster_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>, to provide an execution thread to the driver object. A complete framework with utilites to test the node functionallity or to add diagnostics to specific situations is also given. The inherit template design form allows complete access to any IriBaseDriver object implementation.

As mentioned, tests in the different driver states can be performed through class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests common to all nodes may be also executed in the pattern class IriBaseNodeDriver. Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for more details: http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer) http://www.ros.org/wiki/self_test/ (Example: Self Test)

Definition at line 55 of file segway_rmp400_driver_node.h.

Constructor & Destructor Documentation

SegwayRmp400DriverNode::SegwayRmp400DriverNode ( ros::NodeHandle & nh )

constructor

This constructor mainly creates and initializes the SegwayRmp400DriverNode topics through the given public_node_handle object. IriBaseNodeDriver attributes may be also modified to suit node specifications.

All kind of ROS topics (publishers, subscribers, servers or clients) can be easyly generated with the scripts in the iri_ros_scripts package. Refer to ROS and IRI Wiki pages for more details:

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++) http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++) http://wikiri.upc.es/index.php/Robotics_Lab

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 3 of file segway_rmp400_driver_node.cpp.

SegwayRmp400DriverNode::~SegwayRmp400DriverNode ( )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 85 of file segway_rmp400_driver_node.cpp.

Member Function Documentation

void SegwayRmp400DriverNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this function ROS diagnostics applied to this specific node may be added. Common use diagnostics for all nodes are already called from IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information of how ROS diagnostics work can be readen here: http://www.ros.org/wiki/diagnostics/ http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html

Implements iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 61 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::addNodeOpenedTests ( void ) [protected, virtual]

open status driver tests

In this function tests checking driver's functionallity when driver_base status=open can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 66 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::addNodeRunningTests ( void ) [protected, virtual]

run status driver tests

In this function tests checking driver's functionallity when driver_base status=run can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 76 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::addNodeStoppedTests ( void ) [protected, virtual]

stop status driver tests

In this function tests checking driver's functionallity when driver_base status=stop can be added. Common use tests for all nodes are already called from IriBaseNodeDriver tests methods. For more details on how ROS tests work, please refer to the Self Test example in: http://www.ros.org/wiki/self_test/

Implements iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 71 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::cmd_vel_callback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Definition at line 37 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::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 driver is on running state. Loop frequency can be tuned my 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 iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 24 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::postNodeOpenHook ( void ) [private, virtual]

post open hook

This function is called by IriBaseNodeDriver::postOpenHook(). In this function specific parameters from the driver must be added so the ROS dynamic reconfigure application can update them.

Implements iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 56 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::reconfigureNodeHook ( int level ) [protected, virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Implements iri_base_driver::IriBaseNodeDriver< SegwayRmp400Driver >.

Definition at line 81 of file segway_rmp400_driver_node.cpp.

void SegwayRmp400DriverNode::update_status ( void ) [private]

Definition at line 31 of file segway_rmp400_driver_node.cpp.