Public Member Functions
void	cmd_velCallback (const geometry_msgs::Twist::ConstPtr &msg)

void	disconnect ()

void	handleStatus (segwayrmp::SegwayStatus::Ptr &ss_ptr)

void	keepAliveCallback (const ros::TimerEvent &e)

void	motor_timeoutCallback (const ros::TimerEvent &e)

void	run ()

	SegwayRMPNode ()

bool	spin ()

	~SegwayRMPNode ()

Private Member Functions
int	getParameters ()

void	setupROSComms ()

void	setupSegwayRMP ()

Private Attributes
double	angular_neg_accel_limit

double	angular_odom_scale

double	angular_pos_accel_limit

double	angular_vel

bool	broadcast_tf

ros::Subscriber	cmd_velSubscriber

bool	connected

int	count

bool	first_odometry

std::string	frame_id

double	initial_integrated_forward_position

double	initial_integrated_left_wheel_position

double	initial_integrated_right_wheel_position

double	initial_integrated_turn_position

segwayrmp::InterfaceType	interface_type

std::string	interface_type_str

bool	invert_x

bool	invert_z

ros::Timer	keep_alive_timer

float	last_forward_displacement

ros::Time	last_time

float	last_yaw_displacement

double	linear_neg_accel_limit

double	linear_odom_scale

double	linear_pos_accel_limit

double	linear_vel

boost::mutex	m_mutex

double	max_angular_vel

double	max_linear_vel

ros::Timer	motor_timeout_timer

ros::NodeHandle *	n

tf::TransformBroadcaster	odom_broadcaster

std::string	odom_frame_id

nav_msgs::Odometry	odom_msg

ros::Publisher	odom_pub

geometry_msgs::TransformStamped	odom_trans

double	odometry_reset_duration

ros::Time	odometry_reset_start_time

float	odometry_w

float	odometry_x

float	odometry_y

bool	reset_odometry

double	segway_motor_timeout

segwayrmp::SegwayRMP *	segway_rmp

segwayrmp::SegwayRMPType	segway_rmp_type

ros::Publisher	segway_status_pub

std::string	serial_number

std::string	serial_port

segway_rmp::SegwayStatusStamped	sss_msg

double	target_angular_vel

double	target_linear_vel

std::string	usb_description

int	usb_index

std::string	usb_selector

Detailed Description

Definition at line 53 of file segway_rmp_node.cpp.

Constructor & Destructor Documentation

SegwayRMPNode::SegwayRMPNode ( )

inline

Definition at line 55 of file segway_rmp_node.cpp.

SegwayRMPNode::~SegwayRMPNode ( )

inline

Definition at line 75 of file segway_rmp_node.cpp.

Member Function Documentation

void SegwayRMPNode::cmd_velCallback ( const geometry_msgs::Twist::ConstPtr & msg )

inline

The handler for messages received on the 'cmd_vel' topic.

Definition at line 350 of file segway_rmp_node.cpp.

void SegwayRMPNode::disconnect ( )

inline

Definition at line 79 of file segway_rmp_node.cpp.

int SegwayRMPNode::getParameters ( )

inlineprivate

Definition at line 429 of file segway_rmp_node.cpp.

void SegwayRMPNode::handleStatus ( segwayrmp::SegwayStatus::Ptr & ss_ptr )

inline

Definition at line 197 of file segway_rmp_node.cpp.

void SegwayRMPNode::keepAliveCallback ( const ros::TimerEvent & e )

inline

This method is called at 20Hz. Each time it sends a movement command to the Segway RMP.

Definition at line 138 of file segway_rmp_node.cpp.

void SegwayRMPNode::motor_timeoutCallback ( const ros::TimerEvent & e )

inline

This method is called if a motor command is not received within the segway_motor_timeout interval. It halts the robot for safety reasons.

Definition at line 340 of file segway_rmp_node.cpp.

void SegwayRMPNode::run ( )

inline

Definition at line 85 of file segway_rmp_node.cpp.

void SegwayRMPNode::setupROSComms ( )

inlineprivate

Definition at line 386 of file segway_rmp_node.cpp.

void SegwayRMPNode::setupSegwayRMP ( )

inlineprivate

Definition at line 395 of file segway_rmp_node.cpp.

bool SegwayRMPNode::spin ( )

inline

Definition at line 120 of file segway_rmp_node.cpp.

Member Data Documentation

double SegwayRMPNode::angular_neg_accel_limit

private

Definition at line 601 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_odom_scale

private

Definition at line 604 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_pos_accel_limit

private

Definition at line 600 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_vel

private

Definition at line 593 of file segway_rmp_node.cpp.

bool SegwayRMPNode::broadcast_tf

private

Definition at line 590 of file segway_rmp_node.cpp.

ros::Subscriber SegwayRMPNode::cmd_velSubscriber

private

Definition at line 568 of file segway_rmp_node.cpp.

bool SegwayRMPNode::connected

private

Definition at line 609 of file segway_rmp_node.cpp.

int SegwayRMPNode::count

private

Definition at line 615 of file segway_rmp_node.cpp.

bool SegwayRMPNode::first_odometry

private

Definition at line 617 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::frame_id

private

Definition at line 587 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_forward_position

private

Definition at line 632 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_left_wheel_position

private

Definition at line 633 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_right_wheel_position

private

Definition at line 634 of file segway_rmp_node.cpp.

double SegwayRMPNode::initial_integrated_turn_position

private

Definition at line 635 of file segway_rmp_node.cpp.

segwayrmp::InterfaceType SegwayRMPNode::interface_type

private

Definition at line 576 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::interface_type_str

private

Definition at line 575 of file segway_rmp_node.cpp.

bool SegwayRMPNode::invert_x

private

Definition at line 589 of file segway_rmp_node.cpp.

bool SegwayRMPNode::invert_z

private

Definition at line 589 of file segway_rmp_node.cpp.

ros::Timer SegwayRMPNode::keep_alive_timer

private

Definition at line 566 of file segway_rmp_node.cpp.

float SegwayRMPNode::last_forward_displacement

private

Definition at line 618 of file segway_rmp_node.cpp.

ros::Time SegwayRMPNode::last_time

private

Definition at line 623 of file segway_rmp_node.cpp.

float SegwayRMPNode::last_yaw_displacement

private

Definition at line 619 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_neg_accel_limit

private

Definition at line 599 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_odom_scale

private

Definition at line 603 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_pos_accel_limit

private

Definition at line 598 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_vel

private

Definition at line 592 of file segway_rmp_node.cpp.

boost::mutex SegwayRMPNode::m_mutex

private

Definition at line 625 of file segway_rmp_node.cpp.

double SegwayRMPNode::max_angular_vel

private

Definition at line 607 of file segway_rmp_node.cpp.

double SegwayRMPNode::max_linear_vel

private

Definition at line 606 of file segway_rmp_node.cpp.

ros::Timer SegwayRMPNode::motor_timeout_timer

private

Definition at line 585 of file segway_rmp_node.cpp.

ros::NodeHandle* SegwayRMPNode::n

private

Definition at line 564 of file segway_rmp_node.cpp.

tf::TransformBroadcaster SegwayRMPNode::odom_broadcaster

private

Definition at line 571 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::odom_frame_id

private

Definition at line 588 of file segway_rmp_node.cpp.

nav_msgs::Odometry SegwayRMPNode::odom_msg

private

Definition at line 613 of file segway_rmp_node.cpp.

ros::Publisher SegwayRMPNode::odom_pub

private

Definition at line 570 of file segway_rmp_node.cpp.

geometry_msgs::TransformStamped SegwayRMPNode::odom_trans

private

Definition at line 612 of file segway_rmp_node.cpp.

double SegwayRMPNode::odometry_reset_duration

private

Definition at line 630 of file segway_rmp_node.cpp.

ros::Time SegwayRMPNode::odometry_reset_start_time

private

Definition at line 631 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_w

private

Definition at line 622 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_x

private

Definition at line 620 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_y

private

Definition at line 621 of file segway_rmp_node.cpp.

bool SegwayRMPNode::reset_odometry

private

Definition at line 629 of file segway_rmp_node.cpp.

double SegwayRMPNode::segway_motor_timeout

private

Definition at line 584 of file segway_rmp_node.cpp.

segwayrmp::SegwayRMP* SegwayRMPNode::segway_rmp

private

Definition at line 573 of file segway_rmp_node.cpp.

segwayrmp::SegwayRMPType SegwayRMPNode::segway_rmp_type

private

Definition at line 577 of file segway_rmp_node.cpp.

ros::Publisher SegwayRMPNode::segway_status_pub

private

Definition at line 569 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::serial_number

private

Definition at line 580 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::serial_port

private

Definition at line 578 of file segway_rmp_node.cpp.

segway_rmp::SegwayStatusStamped SegwayRMPNode::sss_msg

private

Definition at line 611 of file segway_rmp_node.cpp.

double SegwayRMPNode::target_angular_vel

private

Definition at line 596 of file segway_rmp_node.cpp.

double SegwayRMPNode::target_linear_vel

private

Definition at line 595 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::usb_description

private

Definition at line 581 of file segway_rmp_node.cpp.

int SegwayRMPNode::usb_index

private

Definition at line 582 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::usb_selector

private

Definition at line 579 of file segway_rmp_node.cpp.

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

segway_rmp_node.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation