ROS Driver/Wrapper for nav2remote Remote API, implementing standard mobile robot subscribers, publishers, and tf frames as per REP 105. More...

Classes
class	BaseOdometry
	Internal class for building and representing the base odometry state. More...
struct	Pose2D
	Internal structure for storing pose representation in 2D. More...
Public Member Functions
	Nav2Driver (std::string name)
	Constructor for driver node.
Protected Member Functions
void	connect (std::string robot_address, int robot_port)
	Establishes connection to Nav2 base controller on specified IP and port, replacing any existing connection if necessary. Throws std::runtime_error if cannot connect to base controller.
void	publishOdometry (bool invert_odom, std::string robot_prefix)
	Retrieves latest odometry information from the base controller, and publishes appropriate message and transforms.
void	setVelocity (const geometry_msgs::TwistConstPtr &twist)
	Sets velocity goals for base controller.
Private Attributes
BaseOdometry	base_odom_
ros::Subscriber	cmd_sub_
bool	invert_odom_
ros::NodeHandle	nh_
ros::Timer	odom_loop_
ros::Publisher	odom_pub_
ros::NodeHandle	private_nh_
boost::shared_ptr< Nav2Remote >	remote_
std::string	robot_address_
int	robot_port_
std::string	robot_prefix_
tf::TransformBroadcaster	tf_broadcaster_

Detailed Description

ROS Driver/Wrapper for nav2remote Remote API, implementing standard mobile robot subscribers, publishers, and tf frames as per REP 105.

Definition at line 16 of file nav2_driver.cpp.

Constructor & Destructor Documentation

nav2_driver::Nav2Driver::Nav2Driver ( std::string name ) [inline]

Constructor for driver node.

Parameters:

name	Name of node

Definition at line 24 of file nav2_driver.cpp.

Member Function Documentation

void nav2_driver::Nav2Driver::connect	(	std::string	robot_address,
		int	robot_port
	)		`[inline, protected]`

Establishes connection to Nav2 base controller on specified IP and port, replacing any existing connection if necessary. Throws std::runtime_error if cannot connect to base controller.

Definition at line 60 of file nav2_driver.cpp.