teleop_safety Class Reference

#include <teleop_safety.h>

List of all members.

Public Member Functions
	teleop_safety ()
	Constructor.
	~teleop_safety ()
	Destructor.
Private Member Functions
void	amcl_pose_cback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &pose)
void	cmd_vel_safety_check_cback (const geometry_msgs::Twist::ConstPtr &cmd)
void	map_cback (const nav_msgs::OccupancyGrid::ConstPtr &map)
void	scan_cback (const sensor_msgs::LaserScan::ConstPtr &scan)
Private Attributes
ros::Subscriber	amcl_pose_sub
ros::Publisher	cmd_vel_pub
ros::Subscriber	cmd_vel_safety_check
double	forward_throttle_safety_factor_base
ros::Subscriber	map_sub
ros::NodeHandle	node
tf::TransformListener *	pListener
double	reverse_throttle_safety_factor_base
nav_msgs::OccupancyGrid	savedMap
ros::Subscriber	scan_sub
geometry_msgs::Twist	twist

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Detailed Description

Definition at line 62 of file teleop_safety.h.

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Constructor & Destructor Documentation

teleop_safety::teleop_safety

(

)

Constructor.

Definition at line 5 of file teleop_safety.cpp.

teleop_safety::~teleop_safety

(

)

Destructor.

Definition at line 24 of file teleop_safety.cpp.

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Member Function Documentation

void teleop_safety::amcl_pose_cback

(

const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &

pose

)

[private]

amcl_pose topic callback function.

Parameters:

pose	- the message for the amcl_pose topic

Definition at line 114 of file teleop_safety.cpp.

void teleop_safety::cmd_vel_safety_check_cback

(

const geometry_msgs::Twist::ConstPtr &

cmd

)

[private]

Definition at line 29 of file teleop_safety.cpp.

void teleop_safety::map_cback

(

const nav_msgs::OccupancyGrid::ConstPtr &

map

)

[private]

map topic callback function.

Parameters:

map	- the message for the map topic

Definition at line 109 of file teleop_safety.cpp.

void teleop_safety::scan_cback

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

[private]

Scan topic callback function.

Parameters:

scan	- the message for the scan topic

Definition at line 41 of file teleop_safety.cpp.

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Member Data Documentation

ros::Subscriber teleop_safety::amcl_pose_sub [private]

the amcl_pose topic

Definition at line 108 of file teleop_safety.h.

ros::Publisher teleop_safety::cmd_vel_pub [private]

cmd_vel publisher for the base

Definition at line 104 of file teleop_safety.h.

ros::Subscriber teleop_safety::cmd_vel_safety_check [private]

subscriber to the cmd_vel topic that should be checked for safety

Definition at line 105 of file teleop_safety.h.

double teleop_safety::forward_throttle_safety_factor_base [private]

factor for reducing the base maximum positive linear speed from laser scan

Definition at line 113 of file teleop_safety.h.

ros::Subscriber teleop_safety::map_sub [private]

the map topic

Definition at line 107 of file teleop_safety.h.

ros::NodeHandle teleop_safety::node [private]

a handle for this ROS node

Definition at line 101 of file teleop_safety.h.

tf::TransformListener* teleop_safety::pListener [private]

Definition at line 102 of file teleop_safety.h.

double teleop_safety::reverse_throttle_safety_factor_base [private]

factor for reducing the base maximum negetive linear speed from map

Definition at line 114 of file teleop_safety.h.

nav_msgs::OccupancyGrid teleop_safety::savedMap [private]

map of allowed speeds

Definition at line 111 of file teleop_safety.h.

ros::Subscriber teleop_safety::scan_sub [private]

the scan topic

Definition at line 106 of file teleop_safety.h.

geometry_msgs::Twist teleop_safety::twist [private]

base movement command

Definition at line 110 of file teleop_safety.h.

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

• teleop_safety.h
• teleop_safety.cpp