roch_follower::RochFollower Class Reference

Inheritance diagram for roch_follower::RochFollower:

Public Member Functions
	RochFollower ()
	The constructor for the follower. Constructor for the follower. More...
	~RochFollower ()
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Private Member Functions
bool	changeModeSrvCb (roch_msgs::SetFollowState::Request &request, roch_msgs::SetFollowState::Response &response)
void	imagecb (const sensor_msgs::ImageConstPtr &depth_msg)
	Callback for point clouds. Callback for depth images. It finds the centroid of the points in a box in the center of the image. Publishes cmd_vel messages with the goal from the image. More...
virtual void	onInit ()
	OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics. More...
void	publishBbox ()
void	publishMarker (double x, double y, double z)
void	reconfigure (roch_follower::FollowerConfig &config, uint32_t level)

Private Attributes
ros::Publisher	bboxpub_
ros::Publisher	cmdpub_
dynamic_reconfigure::Server< roch_follower::FollowerConfig > *	config_srv_
bool	enabled_
double	goal_z_
ros::Publisher	markerpub_
double	max_x_
double	max_y_
double	max_z_
double	min_x_
double	min_y_
ros::Subscriber	sub_
ros::ServiceServer	switch_srv_
double	x_scale_
double	z_scale_

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

The roch follower nodelet. Subscribes to point clouds from the 3dsensor, processes them, and publishes command vel messages.

Definition at line 53 of file follower.cpp.

Constructor & Destructor Documentation

roch_follower::RochFollower::RochFollower ( )

inline

The constructor for the follower. Constructor for the follower.

Definition at line 60 of file follower.cpp.

roch_follower::RochFollower::~RochFollower ( )

inline

Definition at line 68 of file follower.cpp.

Member Function Documentation

bool roch_follower::RochFollower::changeModeSrvCb ( roch_msgs::SetFollowState::Request &  request, roch_msgs::SetFollowState::Response &  response  )

inlineprivate

Definition at line 230 of file follower.cpp.

void roch_follower::RochFollower::imagecb ( const sensor_msgs::ImageConstPtr &  depth_msg )

inlineprivate

Callback for point clouds. Callback for depth images. It finds the centroid of the points in a box in the center of the image. Publishes cmd_vel messages with the goal from the image.

Parameters

cloud

The point cloud message.

Definition at line 142 of file follower.cpp.

virtual void roch_follower::RochFollower::onInit ( )

inlineprivatevirtual

OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.

Implements nodelet::Nodelet.

Definition at line 95 of file follower.cpp.

void roch_follower::RochFollower::publishBbox ( )

inlineprivate

Definition at line 276 of file follower.cpp.

void roch_follower::RochFollower::publishMarker ( double  x, double  y, double  z  )

inlineprivate

Definition at line 249 of file follower.cpp.

void roch_follower::RochFollower::reconfigure ( roch_follower::FollowerConfig &  config, uint32_t  level  )

inlineprivate

Definition at line 123 of file follower.cpp.

Member Data Documentation

ros::Publisher roch_follower::RochFollower::bboxpub_

private

Definition at line 314 of file follower.cpp.

ros::Publisher roch_follower::RochFollower::cmdpub_

private

Definition at line 312 of file follower.cpp.

dynamic_reconfigure::Server<roch_follower::FollowerConfig>* roch_follower::RochFollower::config_srv_

private

Definition at line 88 of file follower.cpp.

bool roch_follower::RochFollower::enabled_

private

Enable/disable following; just prevents motor commands

Definition at line 82 of file follower.cpp.

double roch_follower::RochFollower::goal_z_

private

The distance away from the robot to hold the centroid

Definition at line 79 of file follower.cpp.

ros::Publisher roch_follower::RochFollower::markerpub_

private

Definition at line 313 of file follower.cpp.

double roch_follower::RochFollower::max_x_

private

The maximum x position of the points in the box.

Definition at line 77 of file follower.cpp.

double roch_follower::RochFollower::max_y_

private

The maximum y position of the points in the box.

Definition at line 75 of file follower.cpp.

double roch_follower::RochFollower::max_z_

private

The maximum z position of the points in the box.

Definition at line 78 of file follower.cpp.

double roch_follower::RochFollower::min_x_

private

The minimum x position of the points in the box.

Definition at line 76 of file follower.cpp.

double roch_follower::RochFollower::min_y_

private

The minimum y position of the points in the box.

Definition at line 74 of file follower.cpp.

ros::Subscriber roch_follower::RochFollower::sub_

private

Definition at line 311 of file follower.cpp.

ros::ServiceServer roch_follower::RochFollower::switch_srv_

private

Definition at line 85 of file follower.cpp.

double roch_follower::RochFollower::x_scale_

private

The scaling factor for rotational robot speed

Definition at line 81 of file follower.cpp.

double roch_follower::RochFollower::z_scale_

private

The scaling factor for translational robot speed

Definition at line 80 of file follower.cpp.

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

• follower.cpp