Public Member Functions | Private Member Functions | Private Attributes
kobuki::KobukiRos Class Reference

#include <kobuki_ros.hpp>

List of all members.

Public Member Functions

bool init (ros::NodeHandle &nh, ros::NodeHandle &nh_pub)
 KobukiRos (std::string &node_name)
 Default constructor.
bool update ()
 ~KobukiRos ()

Private Member Functions

void advertiseTopics (ros::NodeHandle &nh)
void processStreamData ()
void publishBumperEvent (const BumperEvent &event)
void publishButtonEvent (const ButtonEvent &event)
void publishCliffEvent (const CliffEvent &event)
void publishControllerInfo ()
void publishDockIRData ()
void publishInertia ()
void publishInputEvent (const InputEvent &event)
void publishPowerEvent (const PowerEvent &event)
void publishRawControlCommand (const std::vector< short > &velocity_commands)
void publishRawDataCommand (Command::Buffer &buffer)
 Prints the raw data stream to a publisher.
void publishRawDataStream (PacketFinder::BufferType &buffer)
 Prints the raw data stream to a publisher.
void publishRawInertia ()
void publishRobotEvent (const RobotEvent &event)
void publishSensorState ()
void publishVersionInfo (const VersionInfo &version_info)
 Publish fw, hw, sw version information.
void publishWheelEvent (const WheelEvent &event)
void publishWheelState ()
void rosDebug (const std::string &msg)
void rosError (const std::string &msg)
void rosInfo (const std::string &msg)
void rosNamed (const std::vector< std::string > &msgs)
void rosWarn (const std::string &msg)
void subscribeControllerInfoCommand (const kobuki_msgs::ControllerInfoConstPtr msg)
void subscribeDigitalOutputCommand (const kobuki_msgs::DigitalOutputConstPtr)
void subscribeExternalPowerCommand (const kobuki_msgs::ExternalPowerConstPtr)
void subscribeLed1Command (const kobuki_msgs::LedConstPtr)
void subscribeLed2Command (const kobuki_msgs::LedConstPtr)
void subscribeMotorPower (const kobuki_msgs::MotorPowerConstPtr msg)
void subscribeResetOdometry (const std_msgs::EmptyConstPtr)
 Reset the odometry variables.
void subscribeSoundCommand (const kobuki_msgs::SoundConstPtr)
 Play a predefined sound (single sound or sound sequence)
void subscribeTopics (ros::NodeHandle &nh)
void subscribeVelocityCommand (const geometry_msgs::TwistConstPtr)

Private Attributes

AnalogInputTask ainput_diagnostics
BatteryTask battery_diagnostics
WallSensorTask bumper_diagnostics
ros::Publisher bumper_event_publisher
ros::Publisher button_event_publisher
CliffSensorTask cliff_diagnostics
ros::Publisher cliff_event_publisher
bool cmd_vel_timed_out_
ros::Subscriber controller_info_command_subscriber
ros::Publisher controller_info_publisher
ros::Subscriber digital_output_command_subscriber
DigitalInputTask dinput_diagnostics
ros::Publisher dock_ir_publisher
ros::Subscriber external_power_command_subscriber
GyroSensorTask gyro_diagnostics
ros::Publisher imu_data_publisher
ros::Publisher input_event_publisher
ros::Publisher joint_state_publisher
sensor_msgs::JointState joint_states
Kobuki kobuki
ros::Subscriber led1_command_subscriber
ros::Subscriber led2_command_subscriber
MotorCurrentTask motor_diagnostics
ros::Subscriber motor_power_subscriber
std::string name
Odometry odometry
ros::Publisher power_event_publisher
ros::Publisher raw_control_command_publisher
ros::Publisher raw_data_command_publisher
ros::Publisher raw_data_stream_publisher
ros::Publisher raw_imu_data_publisher
ros::Subscriber reset_odometry_subscriber
ros::Publisher robot_event_publisher
ros::Publisher sensor_state_publisher
bool serial_timed_out_
ecl::Slot< const BumperEvent & > slot_bumper_event
ecl::Slot< const ButtonEvent & > slot_button_event
ecl::Slot< const CliffEvent & > slot_cliff_event
ecl::Slot slot_controller_info
ecl::Slot< const std::string & > slot_debug
ecl::Slot< const std::string & > slot_error
ecl::Slot< const std::string & > slot_info
ecl::Slot< const InputEvent & > slot_input_event
ecl::Slot< const std::vector
< std::string > & > 
slot_named
ecl::Slot< const PowerEvent & > slot_power_event
ecl::Slot< const std::vector
< short > & > 
slot_raw_control_command
ecl::Slot< Command::Buffer & > slot_raw_data_command
ecl::Slot
< PacketFinder::BufferType & > 
slot_raw_data_stream
ecl::Slot< const RobotEvent & > slot_robot_event
ecl::Slot slot_stream_data
ecl::Slot< const VersionInfo & > slot_version_info
ecl::Slot< const std::string & > slot_warn
ecl::Slot< const WheelEvent & > slot_wheel_event
ros::Subscriber sound_command_subscriber
MotorStateTask state_diagnostics
diagnostic_updater::Updater updater
ros::Subscriber velocity_command_subscriber
ros::Publisher version_info_publisher
WatchdogTask watchdog_diagnostics
WheelDropTask wheel_diagnostics
ros::Publisher wheel_event_publisher

Detailed Description

Definition at line 84 of file kobuki_ros.hpp.


Constructor & Destructor Documentation

Default constructor.

Make sure you call the init() method to fully define this node.

Definition at line 61 of file kobuki_ros.cpp.

This will wait some time while kobuki internally closes its threads and destructs itself.

Definition at line 99 of file kobuki_ros.cpp.


Member Function Documentation

Two groups of publishers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 303 of file kobuki_ros.cpp.

Definition at line 104 of file kobuki_ros.cpp.

Definition at line 49 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishBumperEvent ( const BumperEvent event) [private]

Definition at line 287 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishButtonEvent ( const ButtonEvent event) [private]

Definition at line 267 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishCliffEvent ( const CliffEvent event) [private]

Definition at line 307 of file slot_callbacks.cpp.

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Definition at line 117 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishInputEvent ( const InputEvent event) [private]

Definition at line 371 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishPowerEvent ( const PowerEvent event) [private]

Definition at line 347 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRawControlCommand ( const std::vector< short > &  velocity_commands) [private]

Definition at line 472 of file slot_callbacks.cpp.

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data commands. Useful for debugging command to protocol byte packets to the firmware.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters:
buffer

Definition at line 410 of file slot_callbacks.cpp.

Prints the raw data stream to a publisher.

This is a lazy publisher, it only publishes if someone is listening. It publishes the hex byte values of the raw data (incoming) stream. Useful for checking when bytes get mangled.

The signal which calls this function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet.

Parameters:
buffer

Definition at line 437 of file slot_callbacks.cpp.

Definition at line 152 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishRobotEvent ( const RobotEvent event) [private]

Definition at line 382 of file slot_callbacks.cpp.

Definition at line 61 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishVersionInfo ( const VersionInfo version_info) [private]

Publish fw, hw, sw version information.

The driver will only gather this data when initialising so it is important that this publisher is latched.

Definition at line 216 of file slot_callbacks.cpp.

void kobuki::KobukiRos::publishWheelEvent ( const WheelEvent event) [private]

Definition at line 328 of file slot_callbacks.cpp.

Definition at line 98 of file slot_callbacks.cpp.

void kobuki::KobukiRos::rosDebug ( const std::string msg) [inline, private]

Definition at line 174 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosError ( const std::string msg) [inline, private]

Definition at line 177 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosInfo ( const std::string msg) [inline, private]

Definition at line 175 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosNamed ( const std::vector< std::string > &  msgs) [inline, private]

Definition at line 178 of file kobuki_ros.hpp.

void kobuki::KobukiRos::rosWarn ( const std::string msg) [inline, private]

Definition at line 176 of file kobuki_ros.hpp.

void kobuki::KobukiRos::subscribeControllerInfoCommand ( const kobuki_msgs::ControllerInfoConstPtr  msg) [private]

Definition at line 228 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeDigitalOutputCommand ( const kobuki_msgs::DigitalOutputConstPtr  msg) [private]

Definition at line 93 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeExternalPowerCommand ( const kobuki_msgs::ExternalPowerConstPtr  msg) [private]

Definition at line 104 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed1Command ( const kobuki_msgs::LedConstPtr  msg) [private]

Definition at line 69 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeLed2Command ( const kobuki_msgs::LedConstPtr  msg) [private]

Definition at line 81 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeMotorPower ( const kobuki_msgs::MotorPowerConstPtr  msg) [private]

Definition at line 207 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeResetOdometry ( const std_msgs::EmptyConstPtr  ) [private]

Reset the odometry variables.

Definition at line 195 of file subscriber_callbacks.cpp.

void kobuki::KobukiRos::subscribeSoundCommand ( const kobuki_msgs::SoundConstPtr  msg) [private]

Play a predefined sound (single sound or sound sequence)

Definition at line 155 of file subscriber_callbacks.cpp.

Two groups of subscribers, one required by turtlebot, the other for kobuki esoterics.

Definition at line 335 of file kobuki_ros.cpp.

void kobuki::KobukiRos::subscribeVelocityCommand ( const geometry_msgs::TwistConstPtr  msg) [private]

Definition at line 53 of file subscriber_callbacks.cpp.

This is a worker function that runs in a background thread initiated by the nodelet. It gathers diagnostics information from the kobuki driver, and broadcasts the results to the rest of the ros ecosystem.

Note that the actual driver data is collected via the slot callbacks in this class.

Returns:
Bool : true/false if successfully updated or not (kobuki driver shutdown).

Definition at line 248 of file kobuki_ros.cpp.


Member Data Documentation

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sensor_msgs::JointState kobuki::KobukiRos::joint_states [private]

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ecl::Slot<const std::vector<std::string>&> kobuki::KobukiRos::slot_named [private]

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ecl::Slot<const std::vector<short>&> kobuki::KobukiRos::slot_raw_control_command [private]

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


kobuki_node
Author(s): Daniel Stonier, Younghun Ju, Jorge Santos Simon
autogenerated on Thu Jun 6 2019 17:37:58