Public Member Functions
void	check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	command_ptzCallback (const robotnik_msgs::ptzConstPtr &msg)
void	command_ptzCallback (const robotnik_msgs::ptzConstPtr &msg)
void	commandCallback (const geometry_msgs::TwistConstPtr &msg)
void	commandCallback (const geometry_msgs::TwistConstPtr &msg)
void	imuCallback (const sensor_msgs::Imu &imu_msg)
void	imuCallback (const sensor_msgs::Imu &imu_msg)
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)
void	PublishOdometry ()
void	PublishOdometry ()
double	radnorm (double value)
double	radnorm (double value)
double	radnorm2 (double value)
double	radnorm2 (double value)
double	saturation (double u, double min, double max)
double	saturation (double u, double min, double max)
void	setCommand (const geometry_msgs::Twist &cmd_vel)
void	setCommand (const geometry_msgs::Twist &cmd_vel)
bool	spin ()
bool	spin ()
bool	srvCallback_GetMode (robotnik_msgs::get_mode::Request &request, robotnik_msgs::get_mode::Response &response)
bool	srvCallback_GetMode (robotnik_msgs::get_mode::Request &request, robotnik_msgs::get_mode::Response &response)
bool	srvCallback_SetMode (robotnik_msgs::set_mode::Request &request, robotnik_msgs::set_mode::Response &response)
bool	srvCallback_SetMode (robotnik_msgs::set_mode::Request &request, robotnik_msgs::set_mode::Response &response)
bool	srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)
bool	srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)
int	starting ()
	Controller startup in realtime.
int	starting ()
	Controller startup in realtime.
void	stopping ()
	Controller stopping.
void	stopping ()
	Controller stopping.
	SummitXLControllerClass (ros::NodeHandle h)
	SummitXLControllerClass (ros::NodeHandle h)
void	UpdateControl ()
	Controller update loop.
void	UpdateControl ()
	Controller update loop.
void	UpdateOdometry ()
void	UpdateOdometry ()
Public Attributes
int	active_kinematic_mode_
double	ang_vel_x_
double	ang_vel_y_
double	ang_vel_z_
double	angularSpeedRads_
geometry_msgs::Twist	base_vel_msg_
int	blw_pos_
std::string	blw_pos_topic_
int	blw_vel_
std::string	blw_vel_topic_
int	brw_pos_
std::string	brw_pos_topic_
int	brw_vel_
std::string	brw_vel_topic_
ros::Subscriber	cmd_sub_
diagnostic_updater::FunctionDiagnosticTask	command_freq_
double	desired_freq_
diagnostic_updater::Updater	diagnostic_
int	flw_pos_
std::string	flw_pos_topic_
int	flw_vel_
std::string	flw_vel_topic_
diagnostic_updater::FrequencyStatus	freq_diag_
int	frw_pos_
std::string	frw_pos_topic_
int	frw_vel_
std::string	frw_vel_topic_
ros::Subscriber	imu_sub_
std::string	joint_back_left_steer
std::string	joint_back_left_wheel
std::string	joint_back_right_steer
std::string	joint_back_right_wheel
std::string	joint_camera_pan
std::string	joint_camera_tilt
std::string	joint_front_left_steer
std::string	joint_front_left_wheel
std::string	joint_front_right_steer
std::string	joint_front_right_wheel
sensor_msgs::JointState	joint_state_
ros::Subscriber	joint_state_sub_
int	kinematic_modes_
ros::Time	last_command_time_
double	lin_acc_x_
double	lin_acc_y_
double	lin_acc_z_
double	linearSpeedXMps_
double	linearSpeedYMps_
ros::NodeHandle	node_handle_
tf::TransformBroadcaster	odom_broadcaster
ros::Publisher	odom_pub_
std::string	odom_topic_
double	orientation_w_
double	orientation_x_
double	orientation_y_
double	orientation_z_
int	pan_pos_
std::string	pan_pos_topic_
double	pos_ref_pan_
double	pos_ref_tilt_
ros::NodeHandle	private_node_handle_
ros::Subscriber	ptz_sub_
bool	publish_odom_tf_
bool	read_state_
ros::Publisher	ref_pos_blw_
ros::Publisher	ref_pos_brw_
ros::Publisher	ref_pos_flw_
ros::Publisher	ref_pos_frw_
ros::Publisher	ref_pos_pan_
ros::Publisher	ref_pos_scissor_
ros::Publisher	ref_pos_tilt_
ros::Publisher	ref_vel_blw_
ros::Publisher	ref_vel_brw_
ros::Publisher	ref_vel_flw_
ros::Publisher	ref_vel_frw_
std::string	robot_model_
double	robot_pose_pa_
double	robot_pose_px_
double	robot_pose_py_
double	robot_pose_vx_
double	robot_pose_vy_
int	scissor_pos_
std::string	scissor_pos_topic_
std::string	scissor_prismatic_joint
ros::ServiceServer	srv_GetMode_
ros::ServiceServer	srv_SetMode_
ros::ServiceServer	srv_SetOdometry_
diagnostic_updater::HeaderlessTopicDiagnostic *	subs_command_freq
double	summit_xl_d_tracks_m_
double	summit_xl_trackwidth_
double	summit_xl_wheel_diameter_
double	summit_xl_wheelbase_
int	tilt_pos_
std::string	tilt_pos_topic_
double	v_ref_x_
double	v_ref_y_
double	v_ref_z_
double	w_ref_

Detailed Description

Definition at line 70 of file summit_xl_robot_control.cpp.

Constructor & Destructor Documentation

SummitXLControllerClass::SummitXLControllerClass ( ros::NodeHandle h ) [inline]

Definition at line 233 of file summit_xl_robot_control.cpp.

SummitXLControllerClass::SummitXLControllerClass ( ros::NodeHandle h ) [inline]

Definition at line 230 of file summit_xl_robot_control_vrep.cpp.

Member Function Documentation

void SummitXLControllerClass::check_command_subscriber ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline]

Definition at line 716 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::check_command_subscriber ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline]

Definition at line 749 of file summit_xl_robot_control_vrep.cpp.

void SummitXLControllerClass::command_ptzCallback ( const robotnik_msgs::ptzConstPtr & msg ) [inline]

Definition at line 805 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::command_ptzCallback ( const robotnik_msgs::ptzConstPtr & msg ) [inline]

Definition at line 838 of file summit_xl_robot_control_vrep.cpp.

void SummitXLControllerClass::commandCallback ( const geometry_msgs::TwistConstPtr & msg ) [inline]

Definition at line 794 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::commandCallback ( const geometry_msgs::TwistConstPtr & msg ) [inline]

Definition at line 827 of file summit_xl_robot_control_vrep.cpp.

void SummitXLControllerClass::imuCallback ( const sensor_msgs::Imu & imu_msg ) [inline]

Definition at line 812 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::imuCallback ( const sensor_msgs::Imu & imu_msg ) [inline]

Definition at line 845 of file summit_xl_robot_control_vrep.cpp.

void SummitXLControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr & msg ) [inline]

Definition at line 787 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr & msg ) [inline]

Definition at line 820 of file summit_xl_robot_control_vrep.cpp.

void SummitXLControllerClass::PublishOdometry ( ) [inline]

Definition at line 647 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::PublishOdometry ( ) [inline]

Definition at line 680 of file summit_xl_robot_control_vrep.cpp.

double SummitXLControllerClass::radnorm ( double value ) [inline]

Definition at line 835 of file summit_xl_robot_control.cpp.

double SummitXLControllerClass::radnorm ( double value ) [inline]

Definition at line 868 of file summit_xl_robot_control_vrep.cpp.

double SummitXLControllerClass::radnorm2 ( double value ) [inline]

Definition at line 842 of file summit_xl_robot_control.cpp.

double SummitXLControllerClass::radnorm2 ( double value ) [inline]

Definition at line 875 of file summit_xl_robot_control_vrep.cpp.

double SummitXLControllerClass::saturation	(	double	u,
		double	min,
		double	max
	)		`[inline]`

Definition at line 828 of file summit_xl_robot_control.cpp.

double SummitXLControllerClass::saturation	(	double	u,
		double	min,
		double	max
	)		`[inline]`

Definition at line 861 of file summit_xl_robot_control_vrep.cpp.

void SummitXLControllerClass::setCommand ( const geometry_msgs::Twist & cmd_vel ) [inline]

Definition at line 733 of file summit_xl_robot_control.cpp.

void SummitXLControllerClass::setCommand ( const geometry_msgs::Twist & cmd_vel ) [inline]

Definition at line 766 of file summit_xl_robot_control_vrep.cpp.

bool SummitXLControllerClass::spin ( ) [inline]

Definition at line 849 of file summit_xl_robot_control.cpp.

bool SummitXLControllerClass::spin ( ) [inline]

Definition at line 882 of file summit_xl_robot_control_vrep.cpp.

bool SummitXLControllerClass::srvCallback_GetMode	(	robotnik_msgs::get_mode::Request &	request,
		robotnik_msgs::get_mode::Response &	response
	)		`[inline]`

Definition at line 766 of file summit_xl_robot_control.cpp.

bool SummitXLControllerClass::srvCallback_GetMode	(	robotnik_msgs::get_mode::Request &	request,
		robotnik_msgs::get_mode::Response &	response
	)		`[inline]`

Definition at line 799 of file summit_xl_robot_control_vrep.cpp.

bool SummitXLControllerClass::srvCallback_SetMode	(	robotnik_msgs::set_mode::Request &	request,
		robotnik_msgs::set_mode::Response &	response
	)		`[inline]`

Definition at line 743 of file summit_xl_robot_control.cpp.

bool SummitXLControllerClass::srvCallback_SetMode	(	robotnik_msgs::set_mode::Request &	request,
		robotnik_msgs::set_mode::Response &	response
	)		`[inline]`

Definition at line 776 of file summit_xl_robot_control_vrep.cpp.

bool SummitXLControllerClass::srvCallback_SetOdometry	(	robotnik_msgs::set_odometry::Request &	request,
		robotnik_msgs::set_odometry::Response &	response
	)		`[inline]`

Definition at line 774 of file summit_xl_robot_control.cpp.

bool SummitXLControllerClass::srvCallback_SetOdometry	(	robotnik_msgs::set_odometry::Request &	request,
		robotnik_msgs::set_odometry::Response &	response
	)		`[inline]`