ARDroneDriver Class Reference

#include <ardrone_driver.h>

Public Member Functions
	ARDroneDriver ()
void	PublishNavdata (const navdata_unpacked_t &navdata_raw, const ros::Time &navdata_receive_time)
void	PublishOdometry (const navdata_unpacked_t &navdata_raw, const ros::Time &navdata_receive_time)
void	PublishVideo ()
void	run ()
	~ARDroneDriver ()

Static Public Member Functions
static double	CalcAverage (const std::vector< double > &vec)
static bool	ReadCovParams (const std::string &param_name, boost::array< double, 9 > &cov_array)

Private Member Functions
void	ConfigureDrone ()
void	PublishTF ()

Private Attributes
camera_info_manager::CameraInfoManager *	cinfo_hori
camera_info_manager::CameraInfoManager *	cinfo_vert
ros::Subscriber	cmd_vel_sub
int32_t	copy_current_frame_id
int32_t	copy_current_navdata_id
std::string	drone_frame_base
std::string	drone_frame_bottom_cam
std::string	drone_frame_front_cam
std::string	drone_frame_id
std::string	drone_frame_imu
ros::ServiceServer	flat_trim_srv
int16_t	flying_state
image_transport::CameraPublisher	hori_pub
image_transport::CameraPublisher	image_pub
image_transport::ImageTransport	image_transport
sensor_msgs::Imu	imu_msg
ros::Publisher	imu_pub
bool	is_inited
ros::Subscriber	land_sub
int32_t	last_frame_id
int32_t	last_navdata_id
ros::Time	last_receive_time
ardrone_autonomy::Navdata	legacynavdata_msg
geometry_msgs::Vector3Stamped	mag_msg
ros::Publisher	mag_pub
ros::Publisher	navdata_pub
ros::NodeHandle	node_handle
ros::Publisher	odo_pub
double	odometry [2]
ros::NodeHandle	private_nh
ros::Subscriber	reset_sub
ros::ServiceServer	set_cam_channel_srv
ros::ServiceServer	set_flight_anim_srv
ros::ServiceServer	set_led_animation_srv
ros::ServiceServer	set_record_srv
ros::Subscriber	takeoff_sub
tf::StampedTransform	tf_base_bottom
tf::StampedTransform	tf_base_front
tf::TransformBroadcaster	tf_broad
tf::StampedTransform	tf_odom
std::string	tf_prefix
ros::ServiceServer	toggle_cam_srv
image_transport::CameraPublisher	vert_pub

Detailed Description

Definition at line 66 of file ardrone_driver.h.

Constructor & Destructor Documentation

ARDroneDriver::ARDroneDriver

(

)

Definition at line 39 of file ardrone_driver.cpp.

ARDroneDriver::~ARDroneDriver

(

)

Definition at line 123 of file ardrone_driver.cpp.

Member Function Documentation

double ARDroneDriver::CalcAverage ( const std::vector< double > &  vec )

static

Definition at line 222 of file ardrone_driver.cpp.

void ARDroneDriver::ConfigureDrone ( )

private

Definition at line 217 of file ardrone_driver.cpp.

void ARDroneDriver::PublishNavdata	(	const navdata_unpacked_t &	navdata_raw,
		const ros::Time &	navdata_receive_time
	)

Definition at line 537 of file ardrone_driver.cpp.

void ARDroneDriver::PublishOdometry	(	const navdata_unpacked_t &	navdata_raw,
		const ros::Time &	navdata_receive_time
	)

Definition at line 684 of file ardrone_driver.cpp.

void ARDroneDriver::PublishTF ( )

private

Definition at line 676 of file ardrone_driver.cpp.

void ARDroneDriver::PublishVideo

(

)

For Drone 2 w/ SDK2. Both camera streams are 360p. No 720p support for now. SDK 2.0 Does not support PIP.

Definition at line 267 of file ardrone_driver.cpp.

bool ARDroneDriver::ReadCovParams ( const std::string &  param_name, boost::array< double, 9 > &  cov_array  )

static

Definition at line 232 of file ardrone_driver.cpp.

void ARDroneDriver::run

(

)

Definition at line 129 of file ardrone_driver.cpp.

Member Data Documentation

camera_info_manager::CameraInfoManager* ARDroneDriver::cinfo_hori

private

Definition at line 97 of file ardrone_driver.h.

camera_info_manager::CameraInfoManager* ARDroneDriver::cinfo_vert

private

Definition at line 98 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::cmd_vel_sub

private

Definition at line 88 of file ardrone_driver.h.

int32_t ARDroneDriver::copy_current_frame_id

private

Definition at line 116 of file ardrone_driver.h.

int32_t ARDroneDriver::copy_current_navdata_id

private

Definition at line 117 of file ardrone_driver.h.

std::string ARDroneDriver::drone_frame_base

private

Definition at line 133 of file ardrone_driver.h.

std::string ARDroneDriver::drone_frame_bottom_cam

private

Definition at line 133 of file ardrone_driver.h.

std::string ARDroneDriver::drone_frame_front_cam

private

Definition at line 133 of file ardrone_driver.h.

std::string ARDroneDriver::drone_frame_id

private

Definition at line 122 of file ardrone_driver.h.

std::string ARDroneDriver::drone_frame_imu

private

Definition at line 133 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::flat_trim_srv

private

Definition at line 110 of file ardrone_driver.h.

int16_t ARDroneDriver::flying_state

private

Definition at line 119 of file ardrone_driver.h.

image_transport::CameraPublisher ARDroneDriver::hori_pub

private

Definition at line 94 of file ardrone_driver.h.

image_transport::CameraPublisher ARDroneDriver::image_pub

private

Definition at line 93 of file ardrone_driver.h.

image_transport::ImageTransport ARDroneDriver::image_transport

private

Definition at line 92 of file ardrone_driver.h.

sensor_msgs::Imu ARDroneDriver::imu_msg

private

Definition at line 137 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::imu_pub

private

Definition at line 101 of file ardrone_driver.h.

bool ARDroneDriver::is_inited

private

Definition at line 121 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::land_sub

private

Definition at line 91 of file ardrone_driver.h.

int32_t ARDroneDriver::last_frame_id

private

Definition at line 114 of file ardrone_driver.h.

int32_t ARDroneDriver::last_navdata_id

private

Definition at line 115 of file ardrone_driver.h.

ros::Time ARDroneDriver::last_receive_time

private

Definition at line 142 of file ardrone_driver.h.

ardrone_autonomy::Navdata ARDroneDriver::legacynavdata_msg

private

Definition at line 139 of file ardrone_driver.h.

geometry_msgs::Vector3Stamped ARDroneDriver::mag_msg

private

Definition at line 138 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::mag_pub

private

Definition at line 102 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::navdata_pub

private

Definition at line 100 of file ardrone_driver.h.

ros::NodeHandle ARDroneDriver::node_handle

private

Definition at line 86 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::odo_pub

private

Definition at line 103 of file ardrone_driver.h.

double ARDroneDriver::odometry[2]

private

Definition at line 143 of file ardrone_driver.h.

ros::NodeHandle ARDroneDriver::private_nh

private

Definition at line 87 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::reset_sub

private

Definition at line 90 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::set_cam_channel_srv

private

Definition at line 108 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::set_flight_anim_srv

private

Definition at line 111 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::set_led_animation_srv

private

Definition at line 109 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::set_record_srv

private

Definition at line 112 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::takeoff_sub

private

Definition at line 89 of file ardrone_driver.h.

tf::StampedTransform ARDroneDriver::tf_base_bottom

private

Definition at line 134 of file ardrone_driver.h.

tf::StampedTransform ARDroneDriver::tf_base_front

private

Definition at line 134 of file ardrone_driver.h.

tf::TransformBroadcaster ARDroneDriver::tf_broad

private

Definition at line 105 of file ardrone_driver.h.

tf::StampedTransform ARDroneDriver::tf_odom

private

Definition at line 134 of file ardrone_driver.h.

std::string ARDroneDriver::tf_prefix

private

Definition at line 133 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::toggle_cam_srv

private

Definition at line 107 of file ardrone_driver.h.

image_transport::CameraPublisher ARDroneDriver::vert_pub

private

Definition at line 95 of file ardrone_driver.h.

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

• ardrone_driver.h
• ardrone_driver.cpp