main.cpp File Reference

Main entry point for UM7 driver. Handles serial connection details, as well as all ROS message stuffing, parameters, topics, etc. More...

#include <string>
#include "geometry_msgs/Vector3Stamped.h"
#include "ros/ros.h"
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/MagneticField.h"
#include "serial/serial.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Header.h"
#include "um7/comms.h"
#include "um7/registers.h"
#include "um7/Reset.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Namespaces
	OutputAxisOptions

Typedefs
typedef OutputAxisOptions::OutputAxisOption	OutputAxisOption

Enumerations
enum	OutputAxisOptions::OutputAxisOption { OutputAxisOptions::DEFAULT, OutputAxisOptions::ENU, OutputAxisOptions::ROBOT_FRAME }

Functions
void	configureSensor (um7::Comms *sensor, ros::NodeHandle *private_nh)
template<typename RegT >
void	configureVector3 (um7::Comms *sensor, const um7::Accessor< RegT > &reg, std::string param, std::string human_name)
bool	handleResetService (um7::Comms *sensor, const um7::Reset::Request &req, const um7::Reset::Response &resp)
int	main (int argc, char **argv)
void	publishMsgs (um7::Registers &r, ros::NodeHandle *imu_nh, sensor_msgs::Imu &imu_msg, OutputAxisOption axes, bool use_magnetic_field_msg)
template<typename RegT >
void	sendCommand (um7::Comms *sensor, const um7::Accessor< RegT > &reg, std::string human_name)

Variables
const uint8_t	TRIGGER_PACKET = DREG_EULER_PHI_THETA
const char	VERSION [10] = "0.0.2"

Detailed Description

Main entry point for UM7 driver. Handles serial connection details, as well as all ROS message stuffing, parameters, topics, etc.

Author

Mike Purvis mpurv.nosp@m.is@c.nosp@m.learp.nosp@m.athr.nosp@m.oboti.nosp@m.cs.c.nosp@m.om (original code for UM6)

Copyright

Copyright (c) 2013, Clearpath Robotics, Inc.

Author

Alex Brown rbira.nosp@m.c@co.nosp@m.x.net (adapted to UM7)

Copyright

Copyright (c) 2015, Alex Brown.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. OR ALEX BROWN BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file main.cpp.

Typedef Documentation

typedef OutputAxisOptions::OutputAxisOption OutputAxisOption

Definition at line 61 of file main.cpp.

Function Documentation

void configureSensor	(	um7::Comms *	sensor,
		ros::NodeHandle *	private_nh
	)

Send configuration messages to the UM7, critically, to turn on the value outputs which we require, and inject necessary configuration parameters.

Definition at line 113 of file main.cpp.

template<typename RegT >

void configureVector3	(	um7::Comms *	sensor,
		const um7::Accessor< RegT > &	reg,
		std::string	param,
		std::string	human_name
	)

Function generalizes the process of writing an XYZ vector into consecutive fields in UM7 registers.

Definition at line 68 of file main.cpp.

bool handleResetService	(	um7::Comms *	sensor,
		const um7::Reset::Request &	req,
		const um7::Reset::Response &	resp
	)

Definition at line 203 of file main.cpp.

int main	(	int	argc,
		char **	argv
	)

Node entry-point. Handles ROS setup, and serial port connection/reconnection.

Definition at line 424 of file main.cpp.

void publishMsgs	(	um7::Registers &	r,
		ros::NodeHandle *	imu_nh,
		sensor_msgs::Imu &	imu_msg,
		OutputAxisOption	axes,
		bool	use_magnetic_field_msg
	)

Uses the register accessors to grab data from the IMU, and populate the ROS messages which are output.

Definition at line 217 of file main.cpp.

template<typename RegT >

void sendCommand	(	um7::Comms *	sensor,
		const um7::Accessor< RegT > &	reg,
		std::string	human_name
	)

Function generalizes the process of commanding the UM7 via one of its command registers.

Definition at line 99 of file main.cpp.

Variable Documentation

const uint8_t TRIGGER_PACKET = DREG_EULER_PHI_THETA

Definition at line 52 of file main.cpp.

const char VERSION[10] = "0.0.2"

Definition at line 48 of file main.cpp.