#include <xv11_laser.h>

Public Member Functions
void	close ()
	Close the driver down and prevent the polling loop from advancing.
void	poll (sensor_msgs::LaserScan::Ptr scan)
	Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.
	XV11Laser (const std::string &port, uint32_t baud_rate, uint32_t firmware, boost::asio::io_service &io)
	Constructs a new XV11Laser attached to the given serial port.
	~XV11Laser ()
	Default destructor.
Public Attributes
uint16_t	rpms
	RPMS derived from the rpm bytes in an XV11 packet.
Private Attributes
uint32_t	baud_rate_
	The baud rate for the serial connection.
uint32_t	firmware_
	The firmware version to check. Currently supports two different versions: 1 and 2.
uint16_t	motor_speed_
	current motor speed as reported by the XV11.
std::string	port_
	The serial port the driver is attached to.
boost::asio::serial_port	serial_
	Actual serial port object for reading/writing to the XV11 Laser Scanner.
bool	shutting_down_
	Flag for whether the driver is supposed to be shutting down or not.

Detailed Description

Definition at line 41 of file xv11_laser.h.

Constructor & Destructor Documentation

xv_11_laser_driver::XV11Laser::XV11Laser	(	const std::string &	port,
		uint32_t	baud_rate,
		uint32_t	firmware,
		boost::asio::io_service &	io
	)

Constructs a new XV11Laser attached to the given serial port.

Parameters:

port	The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
baud_rate	The baud rate to open the serial port at.
io	Boost ASIO IO Service to use when creating the serial port object

Definition at line 38 of file xv11_laser.cpp.

xv_11_laser_driver::XV11Laser::~XV11Laser ( ) [inline]

Default destructor.

Definition at line 55 of file xv11_laser.h.