Public Member Functions | Public Attributes | Protected Attributes
P2OSNode Class Reference

#include <p2os.h>

List of all members.

Public Member Functions

void check_and_set_gripper_state ()
void check_and_set_motor_state ()
void check_and_set_vel ()
void check_stall (diagnostic_updater::DiagnosticStatusWrapper &stat)
void check_voltage (diagnostic_updater::DiagnosticStatusWrapper &stat)
void cmdmotor_state (const p2os_msgs::MotorStateConstPtr &)
void cmdvel_cb (const geometry_msgs::TwistConstPtr &)
unsigned char DegreesToTicks (int joint, double degrees)
 convert degrees to ticks
double get_pulse ()
void gripperCallback (const p2os_msgs::GripperStateConstPtr &msg)
 P2OSNode (ros::NodeHandle n)
 P2OS robot driver node.
unsigned char RadiansToTicks (int joint, double rads)
 Convert radians to ticks.
double RadsPerSectoSecsPerTick (int joint, double speed)
 Convert radians per second to radians per encoder tick.
void ResetRawPositions ()
double SecsPerTicktoRadsPerSec (int joint, double secs)
 Convert Seconds per encoder tick to radians per second.
void SendPulse (void)
int SendReceive (P2OSPacket *pkt, bool publish_data=true)
int Setup ()
 Setup the robot for use. Communicates with the robot directly.
int Shutdown ()
 Prepare for shutdown.
void StandardSIPPutData (ros::Time ts)
double TicksToDegrees (int joint, unsigned char ticks)
 Convert ticks to degrees.
double TicksToRadians (int joint, unsigned char ticks)
 Convert ticks to radians.
void ToggleMotorPower (unsigned char val)
 Toggle motors on/off.
void ToggleSonarPower (unsigned char val)
void updateDiagnostics ()
virtual ~P2OSNode ()

Public Attributes

p2os_msgs::MotorState cmdmotor_state_
 Motor state publisher.
geometry_msgs::Twist cmdvel_
 Command Velocity subscriber.
p2os_msgs::GripperState gripper_state_
 Gripper state publisher.
ros_p2os_data_t p2os_data
 sensor data container

Protected Attributes

ros::Publisher aio_pub_
std::string base_link_frame_id
diagnostic_updater::DiagnosedPublisher
< p2os_msgs::BatteryState > 
batt_pub_
int bumpstall
 Stall I hit a wall?
ros::Subscriber cmdmstate_sub_
ros::Subscriber cmdvel_sub_
double desired_freq
diagnostic_updater::Updater diagnostic_
ros::Publisher dio_pub_
int direct_wheel_vel_control
 Control wheel velocities individually?
ros::Publisher grip_state_pub_
bool gripper_dirty_
ros::Subscriber gripper_sub_
int joystick
 Use Joystick?
double lastPulseTime
 Last time the node received or sent a pulse.
bool motor_dirty
short motor_max_rot_accel
 Maximum rotational acceleration in radians per second per second.
short motor_max_rot_decel
 Minimum rotational acceleration in Meters per second per second.
int motor_max_speed
 Maximum motor speed in Meters per second.
short motor_max_trans_accel
 Maximum translational acceleration in Meters per second per second.
short motor_max_trans_decel
 Minimum translational acceleration in Meters per second per second.
int motor_max_turnspeed
 Maximum turn speed in radians per second.
ros::Publisher mstate_pub_
ros::NodeHandle n
 Node Handler used for publication of data.
ros::NodeHandle nh_private
 Node Handler used for private data publication.
tf::TransformBroadcaster odom_broadcaster
std::string odom_frame_id
int param_idx
ros::Publisher pose_pub_
int psos_fd
std::string psos_serial_port
std::string psos_tcp_host
int psos_tcp_port
bool psos_use_tcp
P2OSPtz ptz_
ros::Subscriber ptz_cmd_sub_
ros::Publisher ptz_state_pub_
double pulse
 Pulse time.
int radio_modemp
int rot_ki
int rot_kp
int rot_kv
SIPsippacket
ros::Publisher sonar_pub_
int trans_ki
int trans_kp
int trans_kv
bool use_sonar_
 Use the sonar array?
bool vel_dirty
ros::Time veltime

Detailed Description

Definition at line 86 of file p2os.h.


Constructor & Destructor Documentation

P2OS robot driver node.

This class contains, essentially, the main means of communication between the robot and ROS.

Constructor for P2OS node.

This brings up the P2OS system for ROS operation.

Definition at line 30 of file p2os.cc.

P2OSNode::~P2OSNode ( ) [virtual]

Definition at line 130 of file p2os.cc.


Member Function Documentation

Definition at line 159 of file p2os.cc.

Definition at line 140 of file p2os.cc.

Definition at line 210 of file p2os.cc.

Definition at line 808 of file p2os.cc.

Definition at line 791 of file p2os.cc.

void P2OSNode::cmdmotor_state ( const p2os_msgs::MotorStateConstPtr &  msg)

Definition at line 134 of file p2os.cc.

void P2OSNode::cmdvel_cb ( const geometry_msgs::TwistConstPtr &  msg)

Definition at line 187 of file p2os.cc.

unsigned char P2OSNode::DegreesToTicks ( int  joint,
double  degrees 
) [inline]

convert degrees to ticks

Definition at line 895 of file p2os.cc.

double P2OSNode::get_pulse ( ) [inline]

Definition at line 129 of file p2os.h.

void P2OSNode::gripperCallback ( const p2os_msgs::GripperStateConstPtr &  msg)

Definition at line 267 of file p2os.cc.

unsigned char P2OSNode::RadiansToTicks ( int  joint,
double  rads 
) [inline]

Convert radians to ticks.

Definition at line 924 of file p2os.cc.

double P2OSNode::RadsPerSectoSecsPerTick ( int  joint,
double  speed 
) [inline]

Convert radians per second to radians per encoder tick.

Definition at line 931 of file p2os.cc.

Definition at line 820 of file p2os.cc.

double P2OSNode::SecsPerTicktoRadsPerSec ( int  joint,
double  secs 
) [inline]

Convert Seconds per encoder tick to radians per second.

Definition at line 946 of file p2os.cc.

void P2OSNode::SendPulse ( void  )

Definition at line 956 of file p2os.cc.

int P2OSNode::SendReceive ( P2OSPacket pkt,
bool  publish_data = true 
)

Definition at line 726 of file p2os.cc.

int P2OSNode::Setup ( )

Setup the robot for use. Communicates with the robot directly.

Definition at line 273 of file p2os.cc.

Prepare for shutdown.

Definition at line 659 of file p2os.cc.

Definition at line 695 of file p2os.cc.

double P2OSNode::TicksToDegrees ( int  joint,
unsigned char  ticks 
) [inline]

Convert ticks to degrees.

Definition at line 878 of file p2os.cc.

double P2OSNode::TicksToRadians ( int  joint,
unsigned char  ticks 
) [inline]

Convert ticks to radians.

Definition at line 917 of file p2os.cc.

void P2OSNode::ToggleMotorPower ( unsigned char  val)

Toggle motors on/off.

Turn on/off the robots in accordance to val.

Parameters:
valDetermines what state the motor should be. 1 = enabled, 0 = disabled.

Definition at line 858 of file p2os.cc.

void P2OSNode::ToggleSonarPower ( unsigned char  val)

Definition at line 840 of file p2os.cc.

Definition at line 786 of file p2os.cc.


Member Data Documentation

Definition at line 144 of file p2os.h.

std::string P2OSNode::base_link_frame_id [protected]

Definition at line 156 of file p2os.h.

diagnostic_updater::DiagnosedPublisher<p2os_msgs::BatteryState> P2OSNode::batt_pub_ [protected]

Definition at line 143 of file p2os.h.

int P2OSNode::bumpstall [protected]

Stall I hit a wall?

Definition at line 167 of file p2os.h.

p2os_msgs::MotorState P2OSNode::cmdmotor_state_

Motor state publisher.

Definition at line 200 of file p2os.h.

Definition at line 147 of file p2os.h.

geometry_msgs::Twist P2OSNode::cmdvel_

Command Velocity subscriber.

Definition at line 198 of file p2os.h.

Definition at line 147 of file p2os.h.

double P2OSNode::desired_freq [protected]

Definition at line 188 of file p2os.h.

Definition at line 141 of file p2os.h.

Definition at line 144 of file p2os.h.

Control wheel velocities individually?

Definition at line 171 of file p2os.h.

Definition at line 144 of file p2os.h.

bool P2OSNode::gripper_dirty_ [protected]

Definition at line 161 of file p2os.h.

p2os_msgs::GripperState P2OSNode::gripper_state_

Gripper state publisher.

Definition at line 202 of file p2os.h.

Definition at line 147 of file p2os.h.

int P2OSNode::joystick [protected]

Use Joystick?

Definition at line 169 of file p2os.h.

double P2OSNode::lastPulseTime [protected]

Last time the node received or sent a pulse.

Definition at line 190 of file p2os.h.

bool P2OSNode::motor_dirty [protected]

Definition at line 160 of file p2os.h.

short P2OSNode::motor_max_rot_accel [protected]

Maximum rotational acceleration in radians per second per second.

Definition at line 183 of file p2os.h.

short P2OSNode::motor_max_rot_decel [protected]

Minimum rotational acceleration in Meters per second per second.

Definition at line 185 of file p2os.h.

int P2OSNode::motor_max_speed [protected]

Maximum motor speed in Meters per second.

Definition at line 175 of file p2os.h.

Maximum translational acceleration in Meters per second per second.

Definition at line 179 of file p2os.h.

Minimum translational acceleration in Meters per second per second.

Definition at line 181 of file p2os.h.

Maximum turn speed in radians per second.

Definition at line 177 of file p2os.h.

Definition at line 144 of file p2os.h.

Node Handler used for publication of data.

Definition at line 137 of file p2os.h.

Node Handler used for private data publication.

Definition at line 139 of file p2os.h.

Definition at line 149 of file p2os.h.

std::string P2OSNode::odom_frame_id [protected]

Definition at line 155 of file p2os.h.

sensor data container

Definition at line 204 of file p2os.h.

int P2OSNode::param_idx [protected]

Definition at line 162 of file p2os.h.

Definition at line 146 of file p2os.h.

int P2OSNode::psos_fd [protected]

Definition at line 157 of file p2os.h.

std::string P2OSNode::psos_serial_port [protected]

Definition at line 153 of file p2os.h.

std::string P2OSNode::psos_tcp_host [protected]

Definition at line 154 of file p2os.h.

int P2OSNode::psos_tcp_port [protected]

Definition at line 159 of file p2os.h.

bool P2OSNode::psos_use_tcp [protected]

Definition at line 158 of file p2os.h.

P2OSPtz P2OSNode::ptz_ [protected]

Definition at line 194 of file p2os.h.

Definition at line 147 of file p2os.h.

Definition at line 144 of file p2os.h.

double P2OSNode::pulse [protected]

Pulse time.

Definition at line 187 of file p2os.h.

int P2OSNode::radio_modemp [protected]

Definition at line 172 of file p2os.h.

int P2OSNode::rot_ki [protected]

Definition at line 164 of file p2os.h.

int P2OSNode::rot_kp [protected]

Definition at line 164 of file p2os.h.

int P2OSNode::rot_kv [protected]

Definition at line 164 of file p2os.h.

SIP* P2OSNode::sippacket [protected]

Definition at line 152 of file p2os.h.

Definition at line 144 of file p2os.h.

int P2OSNode::trans_ki [protected]

Definition at line 164 of file p2os.h.

int P2OSNode::trans_kp [protected]

Definition at line 164 of file p2os.h.

int P2OSNode::trans_kv [protected]

Definition at line 164 of file p2os.h.

bool P2OSNode::use_sonar_ [protected]

Use the sonar array?

Definition at line 192 of file p2os.h.

bool P2OSNode::vel_dirty [protected]

Definition at line 160 of file p2os.h.

Definition at line 150 of file p2os.h.


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


p2os_driver
Author(s): Hunter Allen , David Feil-Seifer , Aris Synodinos , Brian Gerkey, Kasper Stoy, Richard Vaughan, Andrew Howard, Tucker Hermans, ActivMedia Robotics LLC, MobileRobots Inc.
autogenerated on Wed Aug 26 2015 15:15:07