odometry_provider.cpp File Reference

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <nav_msgs/Odometry.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <tf/transform_listener.h>
#include <string>
#include <utility>
#include <math.h>

Include dependency graph for odometry_provider.cpp:

Go to the source code of this file.

Functions
double	getAngularVel (const double old_steps, const double new_steps, const bool dir, const double dt)
	Calculates angular velocity from old and new angle on joint.
double	getYaw (const double velRight, const double velLeft)
int	main (int argc, char **argv)
void	odomData_cb (const sensor_msgs::JointState::ConstPtr &left_motor_msg, const sensor_msgs::JointState::ConstPtr &right_motor_msg)
void	setWheelSpacing (const std::string &motor_left_frame, const std::string &motor_right_frame)
Variables
bool	dir_left = true
bool	dir_right = true
ros::Time	last_time
double	left_angular = 0
double	left_steps = -5
std::string	odom_frame_id = "/odom"
std::string	odom_left_wheel = "hal/leftMotor/getState"
std::string	odom_publish_topic = "odom"
std::string	odom_right_wheel = "hal/rightMotor/getState"
double	pos_th = 0
double	pos_x = 0
double	pos_y = 0
ros::Publisher	publisher
double	right_angular = 0
double	right_steps = -5
std::string	tf_prefix
double	WHEEL_RADIUS = 0.098
double	WHEELS_HALF_SPACING = 0.15

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Function Documentation

double getAngularVel	(	const double	old_steps,
		const double	new_steps,
		const bool	dir,
		const double	dt
	)

Calculates angular velocity from old and new angle on joint.

Parameters:

[in]	old_steps	- angle on joint in previous iteration
[in]	new_steps	- current angle on joint
[in]	dir	- direction of rotation true=forward, false = backward
[in]	dt	- time elapsed between measurement of old_steps and new_steps

Returns:

Current angular velocity on the joint

Definition at line 74 of file odometry_provider.cpp.

double getYaw	(	const double	velRight,
		const double	velLeft
	)

Definition at line 43 of file odometry_provider.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 151 of file odometry_provider.cpp.

void odomData_cb	(	const sensor_msgs::JointState::ConstPtr &	left_motor_msg,
		const sensor_msgs::JointState::ConstPtr &	right_motor_msg
	)

Definition at line 85 of file odometry_provider.cpp.

void setWheelSpacing	(	const std::string &	motor_left_frame,
		const std::string &	motor_right_frame
	)

Definition at line 47 of file odometry_provider.cpp.

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Variable Documentation

bool dir_left = true

Definition at line 30 of file odometry_provider.cpp.

bool dir_right = true

Definition at line 31 of file odometry_provider.cpp.

ros::Time last_time

Definition at line 32 of file odometry_provider.cpp.

double left_angular = 0

Definition at line 34 of file odometry_provider.cpp.

double left_steps = -5

Definition at line 28 of file odometry_provider.cpp.

std::string odom_frame_id = "/odom"

Definition at line 37 of file odometry_provider.cpp.

std::string odom_left_wheel = "hal/leftMotor/getState"

Definition at line 40 of file odometry_provider.cpp.

std::string odom_publish_topic = "odom"

Definition at line 38 of file odometry_provider.cpp.

std::string odom_right_wheel = "hal/rightMotor/getState"

Definition at line 39 of file odometry_provider.cpp.

double pos_th = 0

Definition at line 27 of file odometry_provider.cpp.

double pos_x = 0

Definition at line 25 of file odometry_provider.cpp.

double pos_y = 0

Definition at line 26 of file odometry_provider.cpp.

ros::Publisher publisher

Definition at line 20 of file odometry_provider.cpp.

double right_angular = 0

Definition at line 35 of file odometry_provider.cpp.

double right_steps = -5

Definition at line 29 of file odometry_provider.cpp.

std::string tf_prefix

Definition at line 17 of file odometry_provider.cpp.

double WHEEL_RADIUS = 0.098

Definition at line 23 of file odometry_provider.cpp.

double WHEELS_HALF_SPACING = 0.15

Definition at line 22 of file odometry_provider.cpp.