base_controller.BaseController Class Reference

List of all members.

Public Member Functions
def	__init__
def	cleanup
def	cmdCb
def	control
def	stateCb
Public Attributes
	cmd
	if new cmd_vel did not comes for 5 sec
	cmd_time
	curr_cmd
	last_cmd
	velocity control (raw commnd velocity, we need to filter this)
	last_control_time
	odom
	pub_bl_r
	pub_bl_w
	pub_br_r
	pub_br_w
	pub_fl_r
	pub_fl_w
	pub_fr_r
	pub_fr_w
	pub_odom
	publish_odom
	state
	sub_cmd_vel
	sub_state
	th
	x
	y

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Detailed Description

Units:
  - x is m/s, accel_x is m/s^2
  - r is rad/s, accel_r is rad/s^2

Definition at line 52 of file base_controller.py.

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Constructor & Destructor Documentation

def base_controller.BaseController.__init__

(

self

)

@brief Instantiate each joint's publisher that publishes Float64 as
       position/velocity (velocity for wheels that rotate about pitch,
       position for yaw).

Definition at line 59 of file base_controller.py.

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Member Function Documentation

def base_controller.BaseController.cleanup

(

self

)

Definition at line 101 of file base_controller.py.

def base_controller.BaseController.cmdCb	(		self,
			msg
	)

Definition at line 260 of file base_controller.py.

def base_controller.BaseController.control	(		self,
			sec_idle = 1.0
	)

@brief Intended to be called periodically.
       Reads the last velocity command, interpretes for SPUR mechanism,
       then publish as Float64 that is the data type
       dynamixel_controllers receive.
@type sec_idle: float
@param sec_idle: Ideling seconds before robot stops moving

Definition at line 108 of file base_controller.py.

def base_controller.BaseController.stateCb	(		self,
			msg
	)

Definition at line 265 of file base_controller.py.

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Member Data Documentation

base_controller.BaseController::cmd

if new cmd_vel did not comes for 5 sec

Definition at line 63 of file base_controller.py.

base_controller.BaseController::cmd_time

Definition at line 63 of file base_controller.py.

base_controller.BaseController::curr_cmd

Definition at line 63 of file base_controller.py.

base_controller.BaseController::last_cmd

velocity control (raw commnd velocity, we need to filter this)

Odometry

Definition at line 63 of file base_controller.py.

base_controller.BaseController::last_control_time

Definition at line 63 of file base_controller.py.

base_controller.BaseController::odom

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_bl_r

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_bl_w

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_br_r

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_br_w

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_fl_r

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_fl_w

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_fr_r

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_fr_w

Definition at line 63 of file base_controller.py.

base_controller.BaseController::pub_odom

Definition at line 63 of file base_controller.py.

base_controller.BaseController::publish_odom

Definition at line 63 of file base_controller.py.

base_controller.BaseController::state

Definition at line 63 of file base_controller.py.

base_controller.BaseController::sub_cmd_vel

Definition at line 63 of file base_controller.py.

base_controller.BaseController::sub_state

Definition at line 63 of file base_controller.py.

base_controller.BaseController::th

Definition at line 63 of file base_controller.py.

base_controller.BaseController::x

Definition at line 63 of file base_controller.py.

base_controller.BaseController::y

Definition at line 63 of file base_controller.py.

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

• base_controller.py