IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_laser_2d_to_3d_alg_node.h>

Inheritance diagram for TibiDaboLaser2dTo3dAlgNode:

Public Member Functions
	TibiDaboLaser2dTo3dAlgNode (void)
	Constructor.
	~TibiDaboLaser2dTo3dAlgNode (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
Private Member Functions
void	servo_angleActive ()
void	servo_angleDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
void	servo_angleFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)
void	servo_angleMakeActionRequest ()
Private Attributes
double	angle
double	angle_margin
double	angle_max
double	angle_min
ros::ServiceClient	assemble_scans_client_
laser_assembler::AssembleScans	assemble_scans_srv_
sensor_msgs::JointState	JointState_msg_
ros::Duration	minimum_time_between_scans
sensor_msgs::PointCloud	PointCloud_msg_
ros::Publisher	pointcloud_publisher_
ros::Time	previous_time
double	scan_vel
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	servo_angle_client_
control_msgs::FollowJointTrajectoryGoal	servo_angle_goal_
bool	servo_going_right
ros::Publisher	vertical_laser_pan_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 53 of file tibi_dabo_laser_2d_to_3d_alg_node.h.

Constructor & Destructor Documentation

TibiDaboLaser2dTo3dAlgNode::TibiDaboLaser2dTo3dAlgNode ( void )

Constructor.

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

Definition at line 3 of file tibi_dabo_laser_2d_to_3d_alg_node.cpp.

TibiDaboLaser2dTo3dAlgNode::~TibiDaboLaser2dTo3dAlgNode ( void )

Destructor.

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

Definition at line 53 of file tibi_dabo_laser_2d_to_3d_alg_node.cpp.

Member Function Documentation

void TibiDaboLaser2dTo3dAlgNode::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< TibiDaboLaser2dTo3dAlgorithm >.

Definition at line 195 of file tibi_dabo_laser_2d_to_3d_alg_node.cpp.

void TibiDaboLaser2dTo3dAlgNode::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< TibiDaboLaser2dTo3dAlgorithm >.

Definition at line 58 of file tibi_dabo_laser_2d_to_3d_alg_node.cpp.

void TibiDaboLaser2dTo3dAlgNode::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< TibiDaboLaser2dTo3dAlgorithm >.

Definition at line 183 of file tibi_dabo_laser_2d_to_3d_alg_node.cpp.

void TibiDaboLaser2dTo3dAlgNode::servo_angleActive ( ) [private]

Definition at line 126 of file tibi_dabo_laser_2d_to_3d_alg_node.cpp.

void TibiDaboLaser2dTo3dAlgNode::servo_angleDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[private]`