#include <ScitosBase.h>

Inheritance diagram for ScitosBase:

Public Member Functions
virtual void	dataChanged (const BlackboardData *pData)
	ScitosBase (const char , int pArgc, char pArgv[], ros::NodeHandle &nh)
	~ScitosBase ()
Private Member Functions
void	bumperDataCallbackHandler ()
void	bumperResetCallback (const std_msgs::EmptyConstPtr &dummy)
void	checkSubscribersLoop (ros::Rate loop_rate)
void	diagnosticsPublishingLoop (ros::Rate loop_rate)
void	driveCommandCallback (const geometry_msgs::TwistConstPtr &msg)
void	dynamicReconfigureCallback (metralabs_ros::ScitosG5Config &config, uint32_t level)
void	dynamicReconfigureUpdaterLoop (dynamic_reconfigure::Server< metralabs_ros::ScitosG5Config > &dynamic_reconfigure_server, boost::recursive_mutex &mutex, ros::Rate loop_rate)
template<typename FeatureType >
FeatureType	getFeature (std::string name)
void	getFeatures (metralabs_ros::ScitosG5Config &config)
void	odometryCallbackHandler ()
void	resetBumper ()
template<>
void	setFeature (std::string name, bool value)
template<>
void	setFeature (std::string name, int value)
template<>
void	setFeature (std::string name, float value)
template<typename FeatureType >
void	setFeature (std::string name, FeatureType value)
void	setVelocity (double translational_velocity, double rotational_velocity)
void	sonarCallbackHandler ()
Private Attributes
Application *	app_
BlackboardDataBatteryState *	battery_state_data_
Blackboard *	blackboard_
BlackboardDataBumper *	bumper_data_
ros::Publisher	bumper_publisher_
BlackboardDataUInt8 *	bumper_reset_cmd_
ros::Subscriber	bumper_reset_subscriber_
ClassFactory *	class_factory_
ros::Subscriber	cmd_vel_subscriber_
ros::Publisher	diagnostics_publisher_
boost::recursive_mutex	dynamic_reconfigure_mutex_
dynamic_reconfigure::Server < metralabs_ros::ScitosG5Config >	dynamic_reconfigure_server_
ros::NodeHandle &	node_handle_
ros::Publisher	odom_publisher_
BlackboardDataOdometry *	odometry_data_
Robot *	robot_
BlackboardDataRange *	sonar_data_
bool	sonar_is_requested_
ros::Publisher	sonar_publisher_
tf::TransformBroadcaster	tf_broadcaster_
BlackboardDataVelocity *	velocity_cmd_

Detailed Description

Definition at line 37 of file ScitosBase.h.

Constructor & Destructor Documentation

ScitosBase::ScitosBase	(	const char *	config_file,
		int	pArgc,
		char *	pArgv[],
		ros::NodeHandle &	nh
	)

intialize diagnostics

intialize dynamic_reconfigure

Definition at line 54 of file ScitosBase.cpp.

ScitosBase::~ScitosBase ( )

Definition at line 272 of file ScitosBase.cpp.

Member Function Documentation

void ScitosBase::bumperDataCallbackHandler ( ) [private]

Definition at line 502 of file ScitosBase.cpp.

void ScitosBase::bumperResetCallback ( const std_msgs::EmptyConstPtr & dummy ) [inline, private]

Definition at line 92 of file ScitosBase.h.

void ScitosBase::checkSubscribersLoop ( ros::Rate loop_rate ) [private]

enable or disable sonar if someone or no one is listening

Definition at line 751 of file ScitosBase.cpp.

virtual void ScitosBase::dataChanged ( const BlackboardData * pData ) [inline, virtual]

Definition at line 43 of file ScitosBase.h.

void ScitosBase::diagnosticsPublishingLoop ( ros::Rate loop_rate ) [private]

compose battery diagnostics

compose bumper diagnostic

compose battery diagnostics

publish statii combined as array

Definition at line 539 of file ScitosBase.cpp.

void ScitosBase::driveCommandCallback ( const geometry_msgs::TwistConstPtr & msg ) [inline, private]

Definition at line 87 of file ScitosBase.h.

void ScitosBase::dynamicReconfigureCallback	(	metralabs_ros::ScitosG5Config &	config,
		uint32_t	level
	)		`[private]`

Definition at line 292 of file ScitosBase.cpp.

void ScitosBase::dynamicReconfigureUpdaterLoop	(	dynamic_reconfigure::Server< metralabs_ros::ScitosG5Config > &	dynamic_reconfigure_server,
		boost::recursive_mutex &	mutex,
		ros::Rate	loop_rate
	)		`[private]`

Definition at line 768 of file ScitosBase.cpp.

std::string ScitosBase::getFeature ( std::string name ) [private]

Definition at line 28 of file ScitosBase.cpp.

void ScitosBase::getFeatures ( metralabs_ros::ScitosG5Config & config ) [private]

Definition at line 315 of file ScitosBase.cpp.

void ScitosBase::odometryCallbackHandler ( ) [private]

The odometry position and velocities of the robot

odometry tf

odometry data

Definition at line 335 of file ScitosBase.cpp.

void ScitosBase::resetBumper ( ) [inline, private]

Definition at line 82 of file ScitosBase.h.

template<>

void ScitosBase::setFeature	(	std::string	name,
		bool	value
	)		`[private]`

Definition at line 10 of file ScitosBase.cpp.

template<>

void ScitosBase::setFeature	(	std::string	name,
		int	value
	)		`[private]`

Definition at line 14 of file ScitosBase.cpp.

template<>

void ScitosBase::setFeature	(	std::string	name,
		float	value
	)		`[private]`

Definition at line 18 of file ScitosBase.cpp.

template<typename FeatureType >

void ScitosBase::setFeature	(	std::string	name,
		FeatureType	value
	)		`[private]`

void ScitosBase::setVelocity	(	double	translational_velocity,
		double	rotational_velocity
	)		`[inline, private]`

Definition at line 75 of file ScitosBase.h.

void ScitosBase::sonarCallbackHandler ( ) [private]

sonar tf

sonar data msg

Definition at line 388 of file ScitosBase.cpp.

Member Data Documentation

Application* ScitosBase::app_ [private]

Definition at line 99 of file ScitosBase.h.

BlackboardDataBatteryState* ScitosBase::battery_state_data_ [private]

Definition at line 106 of file ScitosBase.h.

Blackboard* ScitosBase::blackboard_ [private]

Definition at line 101 of file ScitosBase.h.

BlackboardDataBumper* ScitosBase::bumper_data_ [private]

Definition at line 107 of file ScitosBase.h.

ros::Publisher ScitosBase::bumper_publisher_ [private]

Definition at line 119 of file ScitosBase.h.

BlackboardDataUInt8* ScitosBase::bumper_reset_cmd_ [private]

Definition at line 110 of file ScitosBase.h.

ros::Subscriber ScitosBase::bumper_reset_subscriber_ [private]

Definition at line 122 of file ScitosBase.h.

ClassFactory* ScitosBase::class_factory_ [private]

Definition at line 100 of file ScitosBase.h.

ros::Subscriber ScitosBase::cmd_vel_subscriber_ [private]

Definition at line 121 of file ScitosBase.h.

ros::Publisher ScitosBase::diagnostics_publisher_ [private]

Definition at line 116 of file ScitosBase.h.

boost::recursive_mutex ScitosBase::dynamic_reconfigure_mutex_ [private]

Definition at line 124 of file ScitosBase.h.

dynamic_reconfigure::Server<metralabs_ros::ScitosG5Config> ScitosBase::dynamic_reconfigure_server_ [private]

Definition at line 125 of file ScitosBase.h.

ros::NodeHandle& ScitosBase::node_handle_ [private]

Definition at line 113 of file ScitosBase.h.

ros::Publisher ScitosBase::odom_publisher_ [private]

Definition at line 117 of file ScitosBase.h.

BlackboardDataOdometry* ScitosBase::odometry_data_ [private]

Definition at line 104 of file ScitosBase.h.

Robot* ScitosBase::robot_ [private]

Definition at line 102 of file ScitosBase.h.

BlackboardDataRange* ScitosBase::sonar_data_ [private]

Definition at line 105 of file ScitosBase.h.

bool ScitosBase::sonar_is_requested_ [private]

Definition at line 127 of file ScitosBase.h.

ros::Publisher ScitosBase::sonar_publisher_ [private]

Definition at line 118 of file ScitosBase.h.

tf::TransformBroadcaster ScitosBase::tf_broadcaster_ [private]

Definition at line 114 of file ScitosBase.h.

BlackboardDataVelocity* ScitosBase::velocity_cmd_ [private]

Definition at line 109 of file ScitosBase.h.

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