Classes | Public Member Functions | Protected Member Functions | Private Attributes
nav2_driver::Nav2Driver Class Reference

ROS Driver/Wrapper for nav2remote Remote API, implementing standard mobile robot subscribers, publishers, and tf frames as per REP 105. More...

List of all members.

Classes

class  BaseOdometry
 Internal class for building and representing the base odometry state. More...
struct  Pose2D
 Internal structure for storing pose representation in 2D. More...

Public Member Functions

 Nav2Driver (std::string name)
 Constructor for driver node.

Protected Member Functions

void connect (std::string robot_address, int robot_port)
 Establishes connection to Nav2 base controller on specified IP and port, replacing any existing connection if necessary. Throws std::runtime_error if cannot connect to base controller.
void publishOdometry (bool invert_odom, std::string robot_prefix)
 Retrieves latest odometry information from the base controller, and publishes appropriate message and transforms.
void setVelocity (const geometry_msgs::TwistConstPtr &twist)
 Sets velocity goals for base controller.

Private Attributes

BaseOdometry base_odom_
ros::Subscriber cmd_sub_
bool invert_odom_
ros::NodeHandle nh_
ros::Timer odom_loop_
ros::Publisher odom_pub_
ros::NodeHandle private_nh_
boost::shared_ptr< Nav2Remoteremote_
std::string robot_address_
int robot_port_
std::string robot_prefix_
tf::TransformBroadcaster tf_broadcaster_

Detailed Description

ROS Driver/Wrapper for nav2remote Remote API, implementing standard mobile robot subscribers, publishers, and tf frames as per REP 105.

Definition at line 16 of file nav2_driver.cpp.


Constructor & Destructor Documentation

nav2_driver::Nav2Driver::Nav2Driver ( std::string  name) [inline]

Constructor for driver node.

Parameters:
nameName of node

Definition at line 24 of file nav2_driver.cpp.


Member Function Documentation

void nav2_driver::Nav2Driver::connect ( std::string  robot_address,
int  robot_port 
) [inline, protected]

Establishes connection to Nav2 base controller on specified IP and port, replacing any existing connection if necessary. Throws std::runtime_error if cannot connect to base controller.

Definition at line 60 of file nav2_driver.cpp.

void nav2_driver::Nav2Driver::publishOdometry ( bool  invert_odom,
std::string  robot_prefix 
) [inline, protected]

Retrieves latest odometry information from the base controller, and publishes appropriate message and transforms.

Parameters:
invert_odomInvert odometry for use with robot_pose_ekf
robot_prefixTf prefix to use with odom and base_link frame

Definition at line 97 of file nav2_driver.cpp.

void nav2_driver::Nav2Driver::setVelocity ( const geometry_msgs::TwistConstPtr &  twist) [inline, protected]

Sets velocity goals for base controller.

Parameters:
twistIncoming velocity command from ROS

Definition at line 116 of file nav2_driver.cpp.


Member Data Documentation

Definition at line 293 of file nav2_driver.cpp.

Definition at line 291 of file nav2_driver.cpp.

Definition at line 297 of file nav2_driver.cpp.

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Definition at line 292 of file nav2_driver.cpp.

Definition at line 290 of file nav2_driver.cpp.

Definition at line 285 of file nav2_driver.cpp.

boost::shared_ptr<Nav2Remote> nav2_driver::Nav2Driver::remote_ [private]

Definition at line 288 of file nav2_driver.cpp.

Definition at line 295 of file nav2_driver.cpp.

Definition at line 296 of file nav2_driver.cpp.

Definition at line 295 of file nav2_driver.cpp.

Definition at line 286 of file nav2_driver.cpp.


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


nav2_driver
Author(s): Paul Bovbel
autogenerated on Sat Jun 8 2019 19:22:46