innok_heros_can_driver.cpp File Reference

#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Float32.h>
#include <tf/transform_broadcaster.h>
#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

Include dependency graph for innok_heros_can_driver.cpp:

Go to the source code of this file.

Functions
int	can_open (const char *device)
void	can_read_frames ()
int	can_send_cmd_vel (double speed, double yawspeed, int modestate=3)
int	can_send_frame (struct can_frame *frame)
void	can_task ()
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &msg)
int	main (int argc, char **argv)
void	publishJoyMsg ()
void	publishOdomMsg ()
void	publishVoltageMsg ()
Variables
double	battery_voltage = 0
bool	can_running = false
int	can_socket
double	odom_orientation = 0
double	odom_pos_x = 0
double	odom_pos_y = 0
ros::Publisher	publisherJoy
ros::Publisher	publisherOdom
ros::Publisher	publisherVoltage
uint8_t	remote_analog [8]
uint8_t	remote_buttons [8]
boost::mutex	ros_mutex

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Function Documentation

int can_open

(

const char *

device

)

Definition at line 45 of file innok_heros_can_driver.cpp.

void can_read_frames

(

)

Definition at line 112 of file innok_heros_can_driver.cpp.

int can_send_cmd_vel	(	double	speed,
		double	yawspeed,
		int	modestate = 3
	)

Definition at line 93 of file innok_heros_can_driver.cpp.

int can_send_frame

(

struct can_frame *

frame

)

Definition at line 79 of file innok_heros_can_driver.cpp.

void can_task

(

)

Definition at line 233 of file innok_heros_can_driver.cpp.

void cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 227 of file innok_heros_can_driver.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 242 of file innok_heros_can_driver.cpp.

void publishJoyMsg

(

)

Definition at line 201 of file innok_heros_can_driver.cpp.

void publishOdomMsg

(

)

Definition at line 147 of file innok_heros_can_driver.cpp.

void publishVoltageMsg

(

)

Definition at line 192 of file innok_heros_can_driver.cpp.

---

Variable Documentation

double battery_voltage = 0

Definition at line 30 of file innok_heros_can_driver.cpp.

bool can_running = false

Definition at line 43 of file innok_heros_can_driver.cpp.

int can_socket

Definition at line 28 of file innok_heros_can_driver.cpp.

double odom_orientation = 0

Definition at line 31 of file innok_heros_can_driver.cpp.

double odom_pos_x = 0

Definition at line 32 of file innok_heros_can_driver.cpp.

double odom_pos_y = 0

Definition at line 33 of file innok_heros_can_driver.cpp.

ros::Publisher publisherJoy

Definition at line 39 of file innok_heros_can_driver.cpp.

ros::Publisher publisherOdom

Definition at line 38 of file innok_heros_can_driver.cpp.

ros::Publisher publisherVoltage

Definition at line 40 of file innok_heros_can_driver.cpp.

uint8_t remote_analog[8]

Definition at line 36 of file innok_heros_can_driver.cpp.

uint8_t remote_buttons[8]

Definition at line 35 of file innok_heros_can_driver.cpp.

boost::mutex ros_mutex

Definition at line 42 of file innok_heros_can_driver.cpp.