rover_zero.RoverZeroNode Class Reference

Public Member Functions
def	__init__ (self)
def	get_battery_voltage (self)
def	get_motor_current (self)
def	send_motor_duty (self, left_duty, right_duty)
def	send_motor_velocities (self, left_velocity, right_velocity)
def	speed_to_duty (self, speed)
def	speed_to_pulse_rate (self, speed)
def	spin (self)
def	verify_ros_parameters (self)

Private Member Functions
def	_cmd_vel_timeout_cb (self, event)
def	_configure_motor_controller (self)
def	_diag_cb (self, event)
def	_diagnostics_update (self)
def	_estop_enable_cb (self, estopstate)
def	_estop_reset_cb (self, estopstate)
def	_get_V_PID (self)
def	_motor_cmd_cb (self, event)
def	_odom_cb (self, msg)
def	_twist_cmd_cb (self, cmd)
def	_twist_to_wheel_velocities (self, linear_rate, angular_rate)

Private Attributes
	_active_brake_enabled
	_active_brake_start_time
	_active_brake_timeout
	_address
	_base_link_frame
	_battery_voltage
	_baud
	_cmd_vel_timeout
	_controller_error
	_diag_frequency
	_distance_per_encoder_pulse
	_duty_coef
	_encoder_odom_enabled
	_encoder_pulses_per_turn
	_esc_feedback_controls_enabled
	_estop_enable_sub
	_estop_on_
	_estop_reset_sub
	_firmware_version
	_last_cmd_vel_received
	_last_odom_update
	_left_motor_current
	_left_motor_max_current
	_left_motor_speed
	_m1_v_d
	_m1_v_i
	_m1_v_p
	_m1_v_qpps
	_m2_v_d
	_m2_v_i
	_m2_v_p
	_m2_v_qpps
	_max_turn_rate
	_max_vel
	_motor_cmd_frequency
	_node
	_odom_frame
	_odom_frequency
	_odom_orientation_theta
	_odom_position_x
	_odom_position_y
	_port
	_pub_diag
	_pub_odom
	_right_motor_current
	_right_motor_max_current
	_right_motor_speed
	_roboclaw
	_save_motor_controller_settings
	_serial_lock
	_twist_sub
	_v_pid_overwrite
	_variable_lock
	_wheel_base
	_wheel_radius

Detailed Description

Definition at line 12 of file rover_zero.py.

Constructor & Destructor Documentation

def rover_zero.RoverZeroNode.__init__

(

self

)

Definition at line 13 of file rover_zero.py.

Member Function Documentation

def rover_zero.RoverZeroNode._cmd_vel_timeout_cb (   self,   event  )

private

Definition at line 317 of file rover_zero.py.

def rover_zero.RoverZeroNode._configure_motor_controller (   self )

private

Definition at line 108 of file rover_zero.py.

def rover_zero.RoverZeroNode._diag_cb (   self,   event  )

private

Definition at line 365 of file rover_zero.py.

def rover_zero.RoverZeroNode._diagnostics_update (   self )

private

Definition at line 387 of file rover_zero.py.

def rover_zero.RoverZeroNode._estop_enable_cb (   self,   estopstate  )

private

Definition at line 241 of file rover_zero.py.

def rover_zero.RoverZeroNode._estop_reset_cb (   self,   estopstate  )

private

Definition at line 247 of file rover_zero.py.

def rover_zero.RoverZeroNode._get_V_PID (   self )

private

Definition at line 124 of file rover_zero.py.

def rover_zero.RoverZeroNode._motor_cmd_cb (   self,   event  )

private

Definition at line 264 of file rover_zero.py.

def rover_zero.RoverZeroNode._odom_cb (   self,   msg  )

private

Definition at line 324 of file rover_zero.py.

def rover_zero.RoverZeroNode._twist_cmd_cb (   self,   cmd  )

private

Definition at line 232 of file rover_zero.py.

def rover_zero.RoverZeroNode._twist_to_wheel_velocities (   self,   linear_rate,   angular_rate  )

private

Definition at line 253 of file rover_zero.py.

def rover_zero.RoverZeroNode.get_battery_voltage

(

self

)

Definition at line 391 of file rover_zero.py.

def rover_zero.RoverZeroNode.get_motor_current

(

self

)

Definition at line 396 of file rover_zero.py.

def rover_zero.RoverZeroNode.send_motor_duty	(		self,
			left_duty,
			right_duty
	)

Definition at line 303 of file rover_zero.py.

def rover_zero.RoverZeroNode.send_motor_velocities	(		self,
			left_velocity,
			right_velocity
	)

The Roboclaw does not have a serial timeout functionality. To make the robot safer we use the velocity with distance command to limit the distance the robot travels if the controller loses connection to the driver node

Definition at line 308 of file rover_zero.py.

def rover_zero.RoverZeroNode.speed_to_duty	(		self,
			speed
	)

Definition at line 294 of file rover_zero.py.

def rover_zero.RoverZeroNode.speed_to_pulse_rate	(		self,
			speed
	)

Definition at line 290 of file rover_zero.py.

def rover_zero.RoverZeroNode.spin

(

self

)

Definition at line 405 of file rover_zero.py.

def rover_zero.RoverZeroNode.verify_ros_parameters

(

self

)

Definition at line 141 of file rover_zero.py.

Member Data Documentation

rover_zero.RoverZeroNode._active_brake_enabled

private

Definition at line 65 of file rover_zero.py.

rover_zero.RoverZeroNode._active_brake_start_time

private

Definition at line 64 of file rover_zero.py.

rover_zero.RoverZeroNode._active_brake_timeout

private

Definition at line 42 of file rover_zero.py.

rover_zero.RoverZeroNode._address

private

Definition at line 18 of file rover_zero.py.

rover_zero.RoverZeroNode._base_link_frame

private

Definition at line 44 of file rover_zero.py.

rover_zero.RoverZeroNode._battery_voltage

private

Definition at line 72 of file rover_zero.py.

rover_zero.RoverZeroNode._baud

private

Definition at line 19 of file rover_zero.py.

rover_zero.RoverZeroNode._cmd_vel_timeout

private

Definition at line 26 of file rover_zero.py.

rover_zero.RoverZeroNode._controller_error

private

Definition at line 73 of file rover_zero.py.

rover_zero.RoverZeroNode._diag_frequency

private

Definition at line 23 of file rover_zero.py.

rover_zero.RoverZeroNode._distance_per_encoder_pulse

private

Definition at line 66 of file rover_zero.py.

rover_zero.RoverZeroNode._duty_coef

private

Definition at line 22 of file rover_zero.py.

rover_zero.RoverZeroNode._encoder_odom_enabled

private

Definition at line 27 of file rover_zero.py.

rover_zero.RoverZeroNode._encoder_pulses_per_turn

private

Definition at line 39 of file rover_zero.py.

rover_zero.RoverZeroNode._esc_feedback_controls_enabled

private

Definition at line 28 of file rover_zero.py.

rover_zero.RoverZeroNode._estop_enable_sub

private

Definition at line 88 of file rover_zero.py.

rover_zero.RoverZeroNode._estop_on_

private

Definition at line 62 of file rover_zero.py.

rover_zero.RoverZeroNode._estop_reset_sub

private

Definition at line 89 of file rover_zero.py.

rover_zero.RoverZeroNode._firmware_version

private

Definition at line 69 of file rover_zero.py.

rover_zero.RoverZeroNode._last_cmd_vel_received

private

Definition at line 61 of file rover_zero.py.

rover_zero.RoverZeroNode._last_odom_update

private

Definition at line 63 of file rover_zero.py.

rover_zero.RoverZeroNode._left_motor_current

private

Definition at line 70 of file rover_zero.py.

rover_zero.RoverZeroNode._left_motor_max_current

private

Definition at line 40 of file rover_zero.py.

rover_zero.RoverZeroNode._left_motor_speed

private

Definition at line 57 of file rover_zero.py.

rover_zero.RoverZeroNode._m1_v_d

private

Definition at line 33 of file rover_zero.py.

rover_zero.RoverZeroNode._m1_v_i

private

Definition at line 32 of file rover_zero.py.

rover_zero.RoverZeroNode._m1_v_p

private

Definition at line 31 of file rover_zero.py.

rover_zero.RoverZeroNode._m1_v_qpps

private

Definition at line 34 of file rover_zero.py.

rover_zero.RoverZeroNode._m2_v_d

private

Definition at line 37 of file rover_zero.py.

rover_zero.RoverZeroNode._m2_v_i

private

Definition at line 36 of file rover_zero.py.

rover_zero.RoverZeroNode._m2_v_p

private

Definition at line 35 of file rover_zero.py.

rover_zero.RoverZeroNode._m2_v_qpps

private

Definition at line 38 of file rover_zero.py.

rover_zero.RoverZeroNode._max_turn_rate

private

Definition at line 21 of file rover_zero.py.

rover_zero.RoverZeroNode._max_vel

private

Definition at line 20 of file rover_zero.py.

rover_zero.RoverZeroNode._motor_cmd_frequency

private

Definition at line 24 of file rover_zero.py.

rover_zero.RoverZeroNode._node

private

Definition at line 14 of file rover_zero.py.

rover_zero.RoverZeroNode._odom_frame

private

Definition at line 43 of file rover_zero.py.

rover_zero.RoverZeroNode._odom_frequency

private

Definition at line 25 of file rover_zero.py.

rover_zero.RoverZeroNode._odom_orientation_theta

private

Definition at line 78 of file rover_zero.py.

rover_zero.RoverZeroNode._odom_position_x

private

Definition at line 76 of file rover_zero.py.

rover_zero.RoverZeroNode._odom_position_y

private

Definition at line 77 of file rover_zero.py.

rover_zero.RoverZeroNode._port

private

Definition at line 17 of file rover_zero.py.

rover_zero.RoverZeroNode._pub_diag

private

Definition at line 82 of file rover_zero.py.

rover_zero.RoverZeroNode._pub_odom

private

Definition at line 84 of file rover_zero.py.

rover_zero.RoverZeroNode._right_motor_current

private

Definition at line 71 of file rover_zero.py.

rover_zero.RoverZeroNode._right_motor_max_current

private

Definition at line 41 of file rover_zero.py.

rover_zero.RoverZeroNode._right_motor_speed

private

Definition at line 58 of file rover_zero.py.

rover_zero.RoverZeroNode._roboclaw

private

Definition at line 49 of file rover_zero.py.

rover_zero.RoverZeroNode._save_motor_controller_settings

private

Definition at line 30 of file rover_zero.py.

rover_zero.RoverZeroNode._serial_lock

private

Definition at line 59 of file rover_zero.py.

rover_zero.RoverZeroNode._twist_sub

private

Definition at line 87 of file rover_zero.py.

rover_zero.RoverZeroNode._v_pid_overwrite

private

Definition at line 29 of file rover_zero.py.

rover_zero.RoverZeroNode._variable_lock

private

Definition at line 60 of file rover_zero.py.

rover_zero.RoverZeroNode._wheel_base

private

Definition at line 45 of file rover_zero.py.

rover_zero.RoverZeroNode._wheel_radius

private

Definition at line 46 of file rover_zero.py.

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

• rover_zero.py