#include <Rmp440LE.h>

Public Member Functions
void	Initialize ()
	Rmp440LE ()
	~Rmp440LE ()
Private Member Functions
void	InitializeMessages ()
bool	IsDeadmanValid ()
void	ProcessAudioCommand (const rmp_msgs::AudioCommand::ConstPtr &rpAudioCommand)
void	ProcessDeadman (const rmp_msgs::BoolStamped::ConstPtr &rpDeadmanMsg)
void	ProcessVelocityCommand (const geometry_msgs::TwistStamped::ConstPtr &rpVelocityCommand)
void	UpdateBattery ()
void	UpdateFaultStatus ()
void	UpdateImu ()
void	UpdateMotorStatus ()
void	UpdateOdometry ()
void	UpdateStatus ()
Private Attributes
ros::Subscriber	m_AudioCommandSubscriber
ros::Publisher	m_BatteryPublisher
rmp_msgs::BoolStamped	m_DeadmanMsg
ros::Subscriber	m_DeadmanSubscriber
ros::Publisher	m_FaultStatusPublisher
sensor_msgs::Imu	m_InertialMsg
ros::Publisher	m_InertialPublisher
sensor_msgs::JointState	m_JointStateMsg
ros::Publisher	m_JointStatesPublisher
ros::Publisher	m_MotorStatusPublisher
ros::NodeHandle	m_NodeHandle
bool	m_OdometryInitialized
nav_msgs::Odometry	m_OdometryMsg
ros::Publisher	m_OdometryPublisher
sensor_msgs::Imu	m_PseMsg
ros::Publisher	m_PsePublisher
segway::Rmp440LEInterface	m_Rmp440LEInterface
ros::Subscriber	m_VelocityCommandSubscriber
WheelsDisplacement	m_WheelsDisplacement

Detailed Description

This class setup a ros interface to the Segway RMP 440LE.

Definition at line 98 of file Rmp440LE.h.

Constructor & Destructor Documentation

Rmp440LE::Rmp440LE ( )

Constructor

Definition at line 70 of file Rmp440LE.cpp.

Rmp440LE::~Rmp440LE ( )

Destructor

Definition at line 76 of file Rmp440LE.cpp.

Member Function Documentation

void Rmp440LE::Initialize ( )

Initialize the communication.

Definition at line 81 of file Rmp440LE.cpp.

void Rmp440LE::InitializeMessages ( ) [private]

Initialize ros messages

Definition at line 219 of file Rmp440LE.cpp.

bool Rmp440LE::IsDeadmanValid ( ) [private]

Check wether the deadman command is valid It has to be true and has to be "recent".

Returns:: wether the deadman command is valid

Definition at line 482 of file Rmp440LE.cpp.

void Rmp440LE::ProcessAudioCommand ( const rmp_msgs::AudioCommand::ConstPtr & rpAudioCommand ) [private]

Process audio commands The different audio commands are defined in the rmp user manual (p.51) and in the rmp_msg package.

Parameters:

rpAudioCommand audio command

Definition at line 307 of file Rmp440LE.cpp.

void Rmp440LE::ProcessDeadman ( const rmp_msgs::BoolStamped::ConstPtr & rpDeadmanMsg ) [private]

Process deadman messages. The deadman needs to be pressed (true) for the velocity commands to be processed.

Parameters:

rpDeadmanMsg deadman message

Definition at line 302 of file Rmp440LE.cpp.

void Rmp440LE::ProcessVelocityCommand ( const geometry_msgs::TwistStamped::ConstPtr & rpVelocityCommand ) [private]

Process velocity commands. Velocity commands are defined by a linear and angular vector. Translational velocity is defined in the x field of the linear vector in [m/s] with the positive axis pointing forward. Turn rate is defined in the z field of the angular vector in [rad/s] with the positive axis pointing upward. The rmp has to be in tractor mode for the command to be effective. The command should not be outside the predefined range. Please refer to the rmp user manual for more information.

Parameters:

rpVelocityCommand velocity command

Exceptions:

std::logic_error if the velocity command is out of range

Definition at line 263 of file Rmp440LE.cpp.

void Rmp440LE::UpdateBattery ( ) [private]

Publish battery data

Definition at line 416 of file Rmp440LE.cpp.

void Rmp440LE::UpdateFaultStatus ( ) [private]

Publish fault status An empty messages means no fault

Definition at line 473 of file Rmp440LE.cpp.

void Rmp440LE::UpdateImu ( ) [private]