motors.cpp File Reference

#include <ros/ros.h>
#include <signal.h>
#include <ros/package.h>
#include "std_srvs/Trigger.h"
#include "geometry_msgs/Twist.h"
#include "raspicat/MotorFreqs.h"
#include "raspicat/TimedMotion.h"
#include <nav_msgs/Odometry.h>
#include <tf/tf.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <fstream>
#include "sensor_msgs/Imu.h"

Include dependency graph for motors.cpp:

Go to the source code of this file.

Functions
void	callback9Axis (const sensor_msgs::Imu::ConstPtr &msg)
void	callbackCmdvel (const geometry_msgs::Twist::ConstPtr &msg)
bool	callbackOff (std_srvs::Trigger::Request &, std_srvs::Trigger::Response &)
bool	callbackOn (std_srvs::Trigger::Request &, std_srvs::Trigger::Response &)
void	callbackRaw (const raspicat::MotorFreqs::ConstPtr &msg)
bool	callbackTimedMotion (raspicat::TimedMotion::Request &, raspicat::TimedMotion::Response &)
int	main (int argc, char **argv)
void	onSigint (int)
nav_msgs::Odometry	send_odom (void)
void	setFreqs (int left, int right)
bool	setPower (bool)

Variables
Time	cur_time
bool	imu_flag = false
bool	in_cmdvel = false
bool	is_on = false
Time	last_cmdvel
double	odom_theta
double	odom_x
double	odom_y
Time	send_time
geometry_msgs::Twist	vel

Function Documentation

void callback9Axis

(

const sensor_msgs::Imu::ConstPtr &

msg

)

Definition at line 128 of file motors.cpp.

void callbackCmdvel

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 114 of file motors.cpp.

bool callbackOff	(	std_srvs::Trigger::Request &	request,
		std_srvs::Trigger::Response &	response
	)

Definition at line 79 of file motors.cpp.

bool callbackOn	(	std_srvs::Trigger::Request &	request,
		std_srvs::Trigger::Response &	response
	)

Definition at line 69 of file motors.cpp.

void callbackRaw

(

const raspicat::MotorFreqs::ConstPtr &

msg

)

Definition at line 109 of file motors.cpp.

bool callbackTimedMotion	(	raspicat::TimedMotion::Request &	request,
		raspicat::TimedMotion::Response &	response
	)

Definition at line 89 of file motors.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 189 of file motors.cpp.

void onSigint

(

int

sig

)

Definition at line 63 of file motors.cpp.

nav_msgs::Odometry send_odom

(

void

)

Definition at line 138 of file motors.cpp.

void setFreqs	(	int	left,
		int	right
	)

Definition at line 50 of file motors.cpp.

bool setPower

(

bool

on

)

Definition at line 39 of file motors.cpp.

Variable Documentation

Time cur_time

Definition at line 31 of file motors.cpp.

bool imu_flag = false

Definition at line 37 of file motors.cpp.

bool in_cmdvel = false

Definition at line 29 of file motors.cpp.

bool is_on = false

Definition at line 28 of file motors.cpp.

Time last_cmdvel

Definition at line 30 of file motors.cpp.

double odom_theta

Definition at line 35 of file motors.cpp.

double odom_x

Definition at line 35 of file motors.cpp.

double odom_y

Definition at line 35 of file motors.cpp.

Time send_time

Definition at line 32 of file motors.cpp.

geometry_msgs::Twist vel

Definition at line 34 of file motors.cpp.