#include <kobuki_ros.hpp>

Public Member Functions
bool	init (ros::NodeHandle &nh)
	KobukiRos (std::string &node_name)
	Default constructor.
bool	update ()
	~KobukiRos ()
Private Member Functions
void	advertiseTopics (ros::NodeHandle &nh)
void	processStreamData ()
void	publishBumperEvent (const BumperEvent &event)
void	publishButtonEvent (const ButtonEvent &event)
void	publishCliffEvent (const CliffEvent &event)
void	publishDockIRData ()
void	publishInertia ()
void	publishInputEvent (const InputEvent &event)
void	publishPowerEvent (const PowerEvent &event)
void	publishRawDataCommand (Command::Buffer &buffer)
	Prints the raw data stream to a publisher.
void	publishRawDataStream (PacketFinder::BufferType &buffer)
	Prints the raw data stream to a publisher.
void	publishRawInertia ()
void	publishRobotEvent (const RobotEvent &event)
void	publishSensorState ()
void	publishVersionInfo (const VersionInfo &version_info)
	Publish fw, hw, sw version information.
void	publishWheelEvent (const WheelEvent &event)
void	publishWheelState ()
void	rosDebug (const std::string &msg)
void	rosError (const std::string &msg)
void	rosInfo (const std::string &msg)
void	rosWarn (const std::string &msg)
void	subscribeDigitalOutputCommand (const kobuki_msgs::DigitalOutputConstPtr)
void	subscribeExternalPowerCommand (const kobuki_msgs::ExternalPowerConstPtr)
void	subscribeLed1Command (const kobuki_msgs::LedConstPtr)
void	subscribeLed2Command (const kobuki_msgs::LedConstPtr)
void	subscribeMotorPower (const kobuki_msgs::MotorPowerConstPtr msg)
void	subscribeResetOdometry (const std_msgs::EmptyConstPtr)
	Reset the odometry variables.
void	subscribeSoundCommand (const kobuki_msgs::SoundConstPtr)
	Play a predefined sound (single sound or sound sequence)
void	subscribeTopics (ros::NodeHandle &nh)
void	subscribeVelocityCommand (const geometry_msgs::TwistConstPtr)
Private Attributes
AnalogInputTask	ainput_diagnostics
BatteryTask	battery_diagnostics
WallSensorTask	bumper_diagnostics
ros::Publisher	bumper_event_publisher
ros::Publisher	button_event_publisher
CliffSensorTask	cliff_diagnostics
ros::Publisher	cliff_event_publisher
bool	cmd_vel_timed_out_
ros::Subscriber	digital_output_command_subscriber
DigitalInputTask	dinput_diagnostics
ros::Publisher	dock_ir_publisher
ros::Subscriber	external_power_command_subscriber
GyroSensorTask	gyro_diagnostics
ros::Publisher	imu_data_publisher
ros::Publisher	input_event_publisher
ros::Publisher	joint_state_publisher
sensor_msgs::JointState	joint_states
Kobuki	kobuki
ros::Subscriber	led1_command_subscriber
ros::Subscriber	led2_command_subscriber
MotorCurrentTask	motor_diagnostics
ros::Subscriber	motor_power_subscriber
std::string	name
Odometry	odometry
ros::Publisher	power_event_publisher
ros::Publisher	raw_data_command_publisher
ros::Publisher	raw_data_stream_publisher
ros::Publisher	raw_imu_data_publisher
ros::Subscriber	reset_odometry_subscriber
ros::Publisher	robot_event_publisher
ros::Publisher	sensor_state_publisher
bool	serial_timed_out_
ecl::Slot< const BumperEvent & >	slot_bumper_event
ecl::Slot< const ButtonEvent & >	slot_button_event
ecl::Slot< const CliffEvent & >	slot_cliff_event
ecl::Slot< const std::string & >	slot_debug
ecl::Slot< const std::string & >	slot_error
ecl::Slot< const std::string & >	slot_info
ecl::Slot< const InputEvent & >	slot_input_event
ecl::Slot< const PowerEvent & >	slot_power_event
ecl::Slot< Command::Buffer & >	slot_raw_data_command
ecl::Slot < PacketFinder::BufferType & >	slot_raw_data_stream
ecl::Slot< const RobotEvent & >	slot_robot_event
ecl::Slot	slot_stream_data
ecl::Slot< const VersionInfo & >	slot_version_info
ecl::Slot< const std::string & >	slot_warn
ecl::Slot< const WheelEvent & >	slot_wheel_event
ros::Subscriber	sound_command_subscriber
MotorStateTask	state_diagnostics
diagnostic_updater::Updater	updater
ros::Subscriber	velocity_command_subscriber
ros::Publisher	version_info_publisher
WatchdogTask	watchdog_diagnostics
WheelDropTask	wheel_diagnostics
ros::Publisher	wheel_event_publisher

Detailed Description

Definition at line 82 of file kobuki_ros.hpp.

Constructor & Destructor Documentation

kobuki::KobukiRos::KobukiRos ( std::string & node_name )

Default constructor.

Make sure you call the init() method to fully define this node.

Definition at line 61 of file kobuki_ros.cpp.

kobuki::KobukiRos::~KobukiRos ( )

This will wait some time while kobuki internally closes its threads and destructs itself.

Definition at line 96 of file kobuki_ros.cpp.

Member Function Documentation

void kobuki::KobukiRos::advertiseTopics ( ros::NodeHandle & nh ) [private]

Two groups of publishers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 295 of file kobuki_ros.cpp.

bool kobuki::KobukiRos::init ( ros::NodeHandle & nh )

Definition at line 101 of file kobuki_ros.cpp.

void kobuki::KobukiRos::processStreamData ( ) [private]

Definition at line 49 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishBumperEvent ( const BumperEvent & event ) [private]

Definition at line 269 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishButtonEvent ( const ButtonEvent & event ) [private]

Definition at line 249 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishCliffEvent ( const CliffEvent & event ) [private]

Definition at line 289 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishDockIRData ( ) [private]

Definition at line 182 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInertia ( ) [private]

Definition at line 115 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInputEvent ( const InputEvent & event ) [private]

Definition at line 353 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishPowerEvent ( const PowerEvent & event ) [private]

Definition at line 329 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawDataCommand ( Command::Buffer & buffer ) [private]

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data commands. Useful for debugging command to protocol byte packets to the firmware.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters:

buffer

Definition at line 392 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawDataStream ( PacketFinder::BufferType & buffer ) [private]

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data (incoming) stream. Useful for checking when bytes get mangled.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters:

buffer

Definition at line 419 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawInertia ( ) [private]

Definition at line 150 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRobotEvent ( const RobotEvent & event ) [private]

Definition at line 364 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishSensorState ( ) [private]

Definition at line 61 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishVersionInfo ( const VersionInfo & version_info ) [private]

Publish fw, hw, sw version information.

The driver will only gather this data when initialising so it is important that this publisher is latched.

Definition at line 214 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelEvent ( const WheelEvent & event ) [private]

Definition at line 310 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelState ( ) [private]

Definition at line 98 of file slot_callbacks.cpp.

void kobuki::KobukiRos::rosDebug ( const std::string & msg ) [inline, private]

Definition at line 166 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosError ( const std::string & msg ) [inline, private]

Definition at line 169 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosInfo ( const std::string & msg ) [inline, private]

Definition at line 167 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosWarn ( const std::string & msg ) [inline, private]

Definition at line 168 of file kobuki_ros.hpp.

void kobuki::KobukiRos::subscribeDigitalOutputCommand ( const kobuki_msgs::DigitalOutputConstPtr msg ) [private]

Definition at line 93 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeExternalPowerCommand ( const kobuki_msgs::ExternalPowerConstPtr msg ) [private]

Definition at line 104 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed1Command ( const kobuki_msgs::LedConstPtr msg ) [private]

Definition at line 69 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed2Command ( const kobuki_msgs::LedConstPtr msg ) [private]

Definition at line 81 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeMotorPower ( const kobuki_msgs::MotorPowerConstPtr msg ) [private]

Definition at line 207 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeResetOdometry ( const std_msgs::EmptyConstPtr ) [private]

Reset the odometry variables.

Definition at line 195 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeSoundCommand ( const kobuki_msgs::SoundConstPtr msg ) [private]

Play a predefined sound (single sound or sound sequence)

Definition at line 155 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeTopics ( ros::NodeHandle & nh ) [private]

Two groups of subscribers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 325 of file kobuki_ros.cpp.

void kobuki::KobukiRos::subscribeVelocityCommand ( const geometry_msgs::TwistConstPtr msg ) [private]

Definition at line 53 of file subscriber_callbacks.cpp.

bool kobuki::KobukiRos::update ( )

Definition at line 240 of file kobuki_ros.cpp.

Member Data Documentation

AnalogInputTask kobuki::KobukiRos::ainput_diagnostics [private]

Definition at line 187 of file kobuki_ros.hpp.

BatteryTask kobuki::KobukiRos::battery_diagnostics [private]

Definition at line 178 of file kobuki_ros.hpp.

WallSensorTask kobuki::KobukiRos::bumper_diagnostics [private]

Definition at line 181 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::bumper_event_publisher [private]

Definition at line 108 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::button_event_publisher [private]

Definition at line 107 of file kobuki_ros.hpp.

CliffSensorTask kobuki::KobukiRos::cliff_diagnostics [private]

Definition at line 180 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::cliff_event_publisher [private]

Definition at line 108 of file kobuki_ros.hpp.

bool kobuki::KobukiRos::cmd_vel_timed_out_ [private]

Definition at line 99 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::digital_output_command_subscriber [private]

Definition at line 111 of file kobuki_ros.hpp.

DigitalInputTask kobuki::KobukiRos::dinput_diagnostics [private]

Definition at line 186 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::dock_ir_publisher [private]

Definition at line 106 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::external_power_command_subscriber [private]

Definition at line 111 of file kobuki_ros.hpp.

GyroSensorTask kobuki::KobukiRos::gyro_diagnostics [private]

Definition at line 185 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::imu_data_publisher [private]

Definition at line 106 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::input_event_publisher [private]

Definition at line 107 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::joint_state_publisher [private]

Definition at line 106 of file kobuki_ros.hpp.

sensor_msgs::JointState kobuki::KobukiRos::joint_states [private]

Definition at line 97 of file kobuki_ros.hpp.

Kobuki kobuki::KobukiRos::kobuki [private]

Definition at line 96 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::led1_command_subscriber [private]

Definition at line 112 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::led2_command_subscriber [private]

Definition at line 112 of file kobuki_ros.hpp.

MotorCurrentTask kobuki::KobukiRos::motor_diagnostics [private]

Definition at line 183 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::motor_power_subscriber [private]

Definition at line 113 of file kobuki_ros.hpp.

std::string kobuki::KobukiRos::name [private]

Definition at line 95 of file kobuki_ros.hpp.

Odometry kobuki::KobukiRos::odometry [private]

Definition at line 98 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::power_event_publisher [private]

Definition at line 108 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_data_command_publisher [private]

Definition at line 109 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_data_stream_publisher [private]

Definition at line 109 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::raw_imu_data_publisher [private]

Definition at line 106 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::reset_odometry_subscriber [private]

Definition at line 113 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::robot_event_publisher [private]

Definition at line 107 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::sensor_state_publisher [private]

Definition at line 106 of file kobuki_ros.hpp.

bool kobuki::KobukiRos::serial_timed_out_ [private]

Definition at line 100 of file kobuki_ros.hpp.

ecl::Slot<const BumperEvent&> kobuki::KobukiRos::slot_bumper_event [private]

Definition at line 136 of file kobuki_ros.hpp.

ecl::Slot<const ButtonEvent&> kobuki::KobukiRos::slot_button_event [private]

Definition at line 135 of file kobuki_ros.hpp.

ecl::Slot<const CliffEvent&> kobuki::KobukiRos::slot_cliff_event [private]

Definition at line 137 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_debug [private]

Definition at line 142 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_error [private]

Definition at line 142 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_info [private]

Definition at line 142 of file kobuki_ros.hpp.

ecl::Slot<const InputEvent&> kobuki::KobukiRos::slot_input_event [private]

Definition at line 140 of file kobuki_ros.hpp.

ecl::Slot<const PowerEvent&> kobuki::KobukiRos::slot_power_event [private]

Definition at line 139 of file kobuki_ros.hpp.

ecl::Slot<Command::Buffer&> kobuki::KobukiRos::slot_raw_data_command [private]

Definition at line 143 of file kobuki_ros.hpp.

ecl::Slot<PacketFinder::BufferType&> kobuki::KobukiRos::slot_raw_data_stream [private]

Definition at line 144 of file kobuki_ros.hpp.

ecl::Slot<const RobotEvent&> kobuki::KobukiRos::slot_robot_event [private]

Definition at line 141 of file kobuki_ros.hpp.

ecl::Slot kobuki::KobukiRos::slot_stream_data [private]

Definition at line 134 of file kobuki_ros.hpp.

ecl::Slot<const VersionInfo&> kobuki::KobukiRos::slot_version_info [private]

Definition at line 133 of file kobuki_ros.hpp.

ecl::Slot<const std::string&> kobuki::KobukiRos::slot_warn [private]

Definition at line 142 of file kobuki_ros.hpp.

ecl::Slot<const WheelEvent&> kobuki::KobukiRos::slot_wheel_event [private]

Definition at line 138 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::sound_command_subscriber [private]

Definition at line 112 of file kobuki_ros.hpp.

MotorStateTask kobuki::KobukiRos::state_diagnostics [private]

Definition at line 184 of file kobuki_ros.hpp.

diagnostic_updater::Updater kobuki::KobukiRos::updater [private]

Definition at line 177 of file kobuki_ros.hpp.

ros::Subscriber kobuki::KobukiRos::velocity_command_subscriber [private]

Definition at line 111 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::version_info_publisher [private]

Definition at line 105 of file kobuki_ros.hpp.

WatchdogTask kobuki::KobukiRos::watchdog_diagnostics [private]

Definition at line 179 of file kobuki_ros.hpp.

WheelDropTask kobuki::KobukiRos::wheel_diagnostics [private]

Definition at line 182 of file kobuki_ros.hpp.

ros::Publisher kobuki::KobukiRos::wheel_event_publisher [private]

Definition at line 108 of file kobuki_ros.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation