podo_connector.cpp File Reference

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <sensor_msgs/JointState.h>
#include <stdio.h>
#include <string.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include "ROSLANData.h"
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <drc_podo_connector/DRC_HEAD_CMD.h>
#include <drc_podo_connector/SendPos.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>

Include dependency graph for podo_connector.cpp:

Go to the source code of this file.

Defines
#define	PODO_ADDR   "10.12.3.30"
#define	PODO_PORT   5000
Functions
void	base_move_callback (const geometry_msgs::Twist::ConstPtr &msg)
int	Connect2Server ()
int	CreateSocket (const char *addr, int port)
void *	LANThread (void *)
int	main (int argc, char **argv)
void	NewRXData ()
void	send_pos_callback (const drc_podo_connector::SendPos::ConstPtr &msg)
Variables
ros::Subscriber	base_move_sub
int	connectionStatus = false
const float	D2Rf = 0.0174533
ros::Publisher	head_cmd_pub
char	ip [20]
ros::Publisher	joint_pub
sensor_msgs::JointState	joint_state
pthread_t	LANTHREAD_t
ros::Subscriber	obj_pos_sub
ros::Publisher	odom_pub
tf::TransformBroadcaster *	pfootprint_broadcaster
tf::TransformBroadcaster *	podom_broadcaster
const float	R2Df = 57.2957802
void *	RXBuffer
LAN_PODO2ROS	RXData
int	RXDataSize
struct sockaddr_in	server
int	sock = 0
int	threadWorking = false
void *	TXBuffer
LAN_ROS2PODO	TXData
int	TXDataSize

---

Define Documentation

#define PODO_ADDR   "10.12.3.30"

Definition at line 24 of file podo_connector.cpp.

#define PODO_PORT   5000

Definition at line 26 of file podo_connector.cpp.

---

Function Documentation

void base_move_callback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 67 of file podo_connector.cpp.

int Connect2Server

(

)

Definition at line 317 of file podo_connector.cpp.

int CreateSocket	(	const char *	addr,
		int	port
	)

Definition at line 300 of file podo_connector.cpp.

void * LANThread

(

void *

)

Definition at line 416 of file podo_connector.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 108 of file podo_connector.cpp.

void NewRXData

(

)

Definition at line 325 of file podo_connector.cpp.

void send_pos_callback

(

const drc_podo_connector::SendPos::ConstPtr &

msg

)

Definition at line 77 of file podo_connector.cpp.

---

Variable Documentation

ros::Subscriber base_move_sub

Definition at line 63 of file podo_connector.cpp.

int connectionStatus = false

Definition at line 37 of file podo_connector.cpp.

const float D2Rf = 0.0174533

Definition at line 28 of file podo_connector.cpp.

ros::Publisher head_cmd_pub

Definition at line 56 of file podo_connector.cpp.

char ip[20]

Definition at line 30 of file podo_connector.cpp.

ros::Publisher joint_pub

Definition at line 55 of file podo_connector.cpp.

sensor_msgs::JointState joint_state

Definition at line 54 of file podo_connector.cpp.

pthread_t LANTHREAD_t

Definition at line 35 of file podo_connector.cpp.

ros::Subscriber obj_pos_sub

Definition at line 64 of file podo_connector.cpp.

ros::Publisher odom_pub

Definition at line 57 of file podo_connector.cpp.

tf::TransformBroadcaster* pfootprint_broadcaster

Definition at line 61 of file podo_connector.cpp.

tf::TransformBroadcaster* podom_broadcaster

Definition at line 60 of file podo_connector.cpp.

const float R2Df = 57.2957802

Definition at line 29 of file podo_connector.cpp.

void* RXBuffer

Definition at line 50 of file podo_connector.cpp.

LAN_PODO2ROS RXData

Definition at line 45 of file podo_connector.cpp.

int RXDataSize

Definition at line 48 of file podo_connector.cpp.

struct sockaddr_in server

Definition at line 33 of file podo_connector.cpp.

int sock = 0

Definition at line 32 of file podo_connector.cpp.

int threadWorking = false

Definition at line 36 of file podo_connector.cpp.

void* TXBuffer

Definition at line 51 of file podo_connector.cpp.

LAN_ROS2PODO TXData

Definition at line 46 of file podo_connector.cpp.

int TXDataSize

Definition at line 49 of file podo_connector.cpp.