openrover::OpenRover Class Reference

#include <openrover.hpp>

Public Member Functions
bool	openComs ()
	OpenRover (ros::NodeHandle &nh, ros::NodeHandle &nh_priv)
void	robotDataFastCB (const ros::WallTimerEvent &e)
void	robotDataMediumCB (const ros::WallTimerEvent &e)
void	robotDataSlowCB (const ros::WallTimerEvent &e)
void	serialManager ()
bool	setupRobotParams ()
bool	start ()
void	timeoutCB (const ros::WallTimerEvent &e)
void	updateMeasuredVelocities ()

Public Attributes
bool	closed_loop_control_on_
bool	e_stop_on_
OdomControl	left_controller_
PidGains	pidGains_
bool	publish_fast_rate_values_
bool	publish_med_rate_values_
bool	publish_slow_rate_values_
OdomControl	right_controller_

Private Member Functions
void	cmdVelCB (const geometry_msgs::Twist::ConstPtr &msg)
void	eStopCB (const std_msgs::Bool::ConstPtr &msg)
void	eStopResetCB (const std_msgs::Bool::ConstPtr &msg)
void	fanSpeedCB (const std_msgs::Int32::ConstPtr &msg)
int	getParameterData (int parameter)
void	publishFastRateData ()
void	publishMedRateData ()
void	publishMotorSpeeds ()
void	publishOdometry (float left_vel, float right_vel)
void	publishSlowRateData ()
void	publishWheelVels ()
int	readCommand ()
bool	sendCommand (int param1, int param2)
bool	setParameterData (int param1, int param2)
void	updateRobotData (int parameter)

Private Attributes
ros::Publisher	battery_state_of_charge_pub
ros::Publisher	battery_state_pub
ros::Publisher	battery_status_a_pub
ros::Publisher	battery_status_b_pub
geometry_msgs::Twist	cmd_vel_commanded_
ros::Subscriber	cmd_vel_sub
std::string	drive_type_
ros::Subscriber	e_stop_reset_sub
ros::Subscriber	e_stop_sub
ros::Subscriber	fan_speed_sub
double	fast_rate_hz_
ros::Publisher	fast_rate_pub
ros::WallTimer	fast_timer
const int	FLIPPER_MOTOR_INDEX_
bool	is_charging_
ros::Publisher	is_charging_pub
bool	is_serial_coms_open_
std::ofstream	l_fs_
std::string	l_pid_csv_file_
const int	LEFT_MOTOR_INDEX_
double	left_vel_commanded_
double	left_vel_filtered_
double	left_vel_measured_
double	medium_rate_hz_
ros::Publisher	medium_rate_pub
ros::WallTimer	medium_timer
int	motor_speed_angular_coef_
int	motor_speed_deadband_
int	motor_speed_flipper_coef_
int	motor_speed_linear_coef_
int	motor_speeds_commanded_ [3]
ros::Publisher	motor_speeds_pub
ros::NodeHandle &	nh_
ros::NodeHandle &	nh_priv_
float	odom_angular_coef_
float	odom_axle_track_
float	odom_covariance_0_
float	odom_covariance_35_
ros::Publisher	odom_enc_pub
float	odom_encoder_coef_
float	odom_traction_factor_
std::string	port_
std::ofstream	r_fs_
std::string	r_pid_csv_file_
const int	RIGHT_MOTOR_INDEX_
double	right_vel_commanded_
double	right_vel_filtered_
double	right_vel_measured_
int	robot_data_ [250]
int	serial_baud_rate_
std::vector< unsigned char >	serial_fan_buffer_
std::vector< unsigned char >	serial_fast_buffer_
std::vector< unsigned char >	serial_medium_buffer_
int	serial_port_fd_
std::vector< unsigned char >	serial_slow_buffer_
double	slow_rate_hz_
ros::Publisher	slow_rate_pub
ros::WallTimer	slow_timer
float	timeout_
ros::WallTimer	timeout_timer
float	total_weight_
bool	use_legacy_
ros::Publisher	vel_calc_pub

Detailed Description

Definition at line 24 of file openrover.hpp.

Constructor & Destructor Documentation

openrover::OpenRover::OpenRover	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_priv
	)

Definition at line 30 of file openrover_driver.cpp.

Member Function Documentation

void openrover::OpenRover::cmdVelCB ( const geometry_msgs::Twist::ConstPtr &  msg )

private

Definition at line 390 of file openrover_driver.cpp.

void openrover::OpenRover::eStopCB ( const std_msgs::Bool::ConstPtr &  msg )

private

Definition at line 437 of file openrover_driver.cpp.

void openrover::OpenRover::eStopResetCB ( const std_msgs::Bool::ConstPtr &  msg )

private

Definition at line 451 of file openrover_driver.cpp.

void openrover::OpenRover::fanSpeedCB ( const std_msgs::Int32::ConstPtr &  msg )

private

Definition at line 380 of file openrover_driver.cpp.

int openrover::OpenRover::getParameterData ( int  parameter )

private

Definition at line 975 of file openrover_driver.cpp.

bool openrover::OpenRover::openComs

(

)

Definition at line 1001 of file openrover_driver.cpp.

void openrover::OpenRover::publishFastRateData ( )

private

Definition at line 551 of file openrover_driver.cpp.

void openrover::OpenRover::publishMedRateData ( )

private

Definition at line 568 of file openrover_driver.cpp.

void openrover::OpenRover::publishMotorSpeeds ( )

private

Definition at line 663 of file openrover_driver.cpp.

void openrover::OpenRover::publishOdometry ( float  left_vel, float  right_vel  )

private

Definition at line 460 of file openrover_driver.cpp.

void openrover::OpenRover::publishSlowRateData ( )

private

Definition at line 626 of file openrover_driver.cpp.

void openrover::OpenRover::publishWheelVels ( )

private

Definition at line 529 of file openrover_driver.cpp.

int openrover::OpenRover::readCommand ( )

private

Definition at line 907 of file openrover_driver.cpp.

void openrover::OpenRover::robotDataFastCB

(

const ros::WallTimerEvent &

e

)

Definition at line 350 of file openrover_driver.cpp.

void openrover::OpenRover::robotDataMediumCB

(

const ros::WallTimerEvent &

e

)

Definition at line 337 of file openrover_driver.cpp.

void openrover::OpenRover::robotDataSlowCB

(

const ros::WallTimerEvent &

e

)

Definition at line 324 of file openrover_driver.cpp.

bool openrover::OpenRover::sendCommand ( int  param1, int  param2  )

private

Definition at line 873 of file openrover_driver.cpp.

void openrover::OpenRover::serialManager

(

)

Definition at line 675 of file openrover_driver.cpp.

bool openrover::OpenRover::setParameterData ( int  param1, int  param2  )

private

Definition at line 957 of file openrover_driver.cpp.

bool openrover::OpenRover::setupRobotParams

(

)

Definition at line 128 of file openrover_driver.cpp.

bool openrover::OpenRover::start

(

)

Definition at line 63 of file openrover_driver.cpp.

void openrover::OpenRover::timeoutCB

(

const ros::WallTimerEvent &

e

)

Definition at line 369 of file openrover_driver.cpp.

void openrover::OpenRover::updateMeasuredVelocities

(

)

Definition at line 808 of file openrover_driver.cpp.

void openrover::OpenRover::updateRobotData ( int  parameter )

private

Definition at line 852 of file openrover_driver.cpp.

Member Data Documentation

ros::Publisher openrover::OpenRover::battery_state_of_charge_pub

private

Definition at line 86 of file openrover.hpp.

ros::Publisher openrover::OpenRover::battery_state_pub

private

Definition at line 77 of file openrover.hpp.

ros::Publisher openrover::OpenRover::battery_status_a_pub

private

Definition at line 85 of file openrover.hpp.

ros::Publisher openrover::OpenRover::battery_status_b_pub

private

Definition at line 85 of file openrover.hpp.

bool openrover::OpenRover::closed_loop_control_on_

Definition at line 49 of file openrover.hpp.

geometry_msgs::Twist openrover::OpenRover::cmd_vel_commanded_

private

Definition at line 131 of file openrover.hpp.

ros::Subscriber openrover::OpenRover::cmd_vel_sub

private

Definition at line 88 of file openrover.hpp.

std::string openrover::OpenRover::drive_type_

private

Definition at line 61 of file openrover.hpp.

bool openrover::OpenRover::e_stop_on_

Definition at line 50 of file openrover.hpp.

ros::Subscriber openrover::OpenRover::e_stop_reset_sub

private

Definition at line 91 of file openrover.hpp.

ros::Subscriber openrover::OpenRover::e_stop_sub

private

Definition at line 90 of file openrover.hpp.

ros::Subscriber openrover::OpenRover::fan_speed_sub

private

Definition at line 89 of file openrover.hpp.

double openrover::OpenRover::fast_rate_hz_

private

Definition at line 104 of file openrover.hpp.

ros::Publisher openrover::OpenRover::fast_rate_pub

private

Definition at line 82 of file openrover.hpp.

ros::WallTimer openrover::OpenRover::fast_timer

private

Definition at line 70 of file openrover.hpp.

const int openrover::OpenRover::FLIPPER_MOTOR_INDEX_

private

Definition at line 101 of file openrover.hpp.

bool openrover::OpenRover::is_charging_

private

Definition at line 97 of file openrover.hpp.

ros::Publisher openrover::OpenRover::is_charging_pub

private

Definition at line 78 of file openrover.hpp.

bool openrover::OpenRover::is_serial_coms_open_

private

Definition at line 102 of file openrover.hpp.

std::ofstream openrover::OpenRover::l_fs_

private

Definition at line 56 of file openrover.hpp.

std::string openrover::OpenRover::l_pid_csv_file_

private

Definition at line 54 of file openrover.hpp.

OdomControl openrover::OpenRover::left_controller_

Definition at line 29 of file openrover.hpp.

const int openrover::OpenRover::LEFT_MOTOR_INDEX_

private

Definition at line 99 of file openrover.hpp.

double openrover::OpenRover::left_vel_commanded_

private

Definition at line 117 of file openrover.hpp.

double openrover::OpenRover::left_vel_filtered_

private

Definition at line 121 of file openrover.hpp.

double openrover::OpenRover::left_vel_measured_

private

Definition at line 119 of file openrover.hpp.

double openrover::OpenRover::medium_rate_hz_

private

Definition at line 105 of file openrover.hpp.

ros::Publisher openrover::OpenRover::medium_rate_pub

private

Definition at line 83 of file openrover.hpp.

ros::WallTimer openrover::OpenRover::medium_timer

private

Definition at line 71 of file openrover.hpp.

int openrover::OpenRover::motor_speed_angular_coef_

private

Definition at line 125 of file openrover.hpp.

int openrover::OpenRover::motor_speed_deadband_

private

Definition at line 127 of file openrover.hpp.

int openrover::OpenRover::motor_speed_flipper_coef_

private

Definition at line 126 of file openrover.hpp.

int openrover::OpenRover::motor_speed_linear_coef_

private

Definition at line 124 of file openrover.hpp.

int openrover::OpenRover::motor_speeds_commanded_[3]

private

Definition at line 98 of file openrover.hpp.

ros::Publisher openrover::OpenRover::motor_speeds_pub

private

Definition at line 79 of file openrover.hpp.

ros::NodeHandle& openrover::OpenRover::nh_

private

Definition at line 66 of file openrover.hpp.

ros::NodeHandle& openrover::OpenRover::nh_priv_

private

Definition at line 67 of file openrover.hpp.

float openrover::OpenRover::odom_angular_coef_

private

Definition at line 111 of file openrover.hpp.

float openrover::OpenRover::odom_axle_track_

private

Definition at line 110 of file openrover.hpp.

float openrover::OpenRover::odom_covariance_0_

private

Definition at line 113 of file openrover.hpp.

float openrover::OpenRover::odom_covariance_35_

private

Definition at line 114 of file openrover.hpp.

ros::Publisher openrover::OpenRover::odom_enc_pub

private

Definition at line 76 of file openrover.hpp.

float openrover::OpenRover::odom_encoder_coef_

private

Definition at line 109 of file openrover.hpp.

float openrover::OpenRover::odom_traction_factor_

private

Definition at line 112 of file openrover.hpp.

PidGains openrover::OpenRover::pidGains_

Definition at line 32 of file openrover.hpp.

std::string openrover::OpenRover::port_

private

Definition at line 60 of file openrover.hpp.

bool openrover::OpenRover::publish_fast_rate_values_

Definition at line 46 of file openrover.hpp.

bool openrover::OpenRover::publish_med_rate_values_

Definition at line 47 of file openrover.hpp.

bool openrover::OpenRover::publish_slow_rate_values_

Definition at line 48 of file openrover.hpp.

std::ofstream openrover::OpenRover::r_fs_

private

Definition at line 57 of file openrover.hpp.

std::string openrover::OpenRover::r_pid_csv_file_

private

Definition at line 55 of file openrover.hpp.

OdomControl openrover::OpenRover::right_controller_

Definition at line 30 of file openrover.hpp.

const int openrover::OpenRover::RIGHT_MOTOR_INDEX_

private

Definition at line 100 of file openrover.hpp.

double openrover::OpenRover::right_vel_commanded_

private

Definition at line 118 of file openrover.hpp.

double openrover::OpenRover::right_vel_filtered_

private

Definition at line 122 of file openrover.hpp.

double openrover::OpenRover::right_vel_measured_

private

Definition at line 120 of file openrover.hpp.

int openrover::OpenRover::robot_data_[250]

private

Definition at line 96 of file openrover.hpp.

int openrover::OpenRover::serial_baud_rate_

private

Definition at line 94 of file openrover.hpp.

std::vector<unsigned char> openrover::OpenRover::serial_fan_buffer_

private

Definition at line 136 of file openrover.hpp.

std::vector<unsigned char> openrover::OpenRover::serial_fast_buffer_

private

Definition at line 133 of file openrover.hpp.

std::vector<unsigned char> openrover::OpenRover::serial_medium_buffer_

private

Definition at line 134 of file openrover.hpp.

int openrover::OpenRover::serial_port_fd_

private

Definition at line 95 of file openrover.hpp.

std::vector<unsigned char> openrover::OpenRover::serial_slow_buffer_

private

Definition at line 135 of file openrover.hpp.

double openrover::OpenRover::slow_rate_hz_

private

Definition at line 106 of file openrover.hpp.

ros::Publisher openrover::OpenRover::slow_rate_pub

private

Definition at line 84 of file openrover.hpp.

ros::WallTimer openrover::OpenRover::slow_timer

private

Definition at line 72 of file openrover.hpp.

float openrover::OpenRover::timeout_

private

Definition at line 63 of file openrover.hpp.

ros::WallTimer openrover::OpenRover::timeout_timer

private

Definition at line 73 of file openrover.hpp.

float openrover::OpenRover::total_weight_

private

Definition at line 129 of file openrover.hpp.

bool openrover::OpenRover::use_legacy_

private

Definition at line 103 of file openrover.hpp.

ros::Publisher openrover::OpenRover::vel_calc_pub

private

Definition at line 80 of file openrover.hpp.

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

• openrover.hpp
• openrover_driver.cpp