firmware_message_converter.cpp File Reference

#include <cmath>
#include <cstdlib>
#include <fstream>
#include "ros/ros.h"
#include "yaml-cpp/yaml.h"
#include "geometry_msgs/Vector3.h"
#include "nav_msgs/Odometry.h"
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/JointState.h"
#include "std_srvs/Trigger.h"
#include "leo_msgs/Imu.h"
#include "leo_msgs/WheelOdom.h"
#include "leo_msgs/WheelOdomMecanum.h"
#include "leo_msgs/WheelStates.h"
#include "leo_msgs/SetImuCalibration.h"

Include dependency graph for firmware_message_converter.cpp:

Go to the source code of this file.

Functions
std::string	get_calib_path ()
void	imu_callback (const leo_msgs::ImuPtr &msg)
void	load_parameters (ros::NodeHandle &pnh)
void	load_yaml_bias ()
int	main (int argc, char **argv)
void	mecanum_odom_callback (const leo_msgs::WheelOdomMecanumPtr &msg)
void	merge_odometry_callback (const ros::TimerEvent &events)
bool	reset_odometry_callback (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &res)
bool	set_imu_calibration_callback (leo_msgs::SetImuCalibrationRequest &req, leo_msgs::SetImuCalibrationResponse &res)
void	wheel_odom_callback (const leo_msgs::WheelOdomPtr &msg)
void	wheel_states_callback (const leo_msgs::WheelStatesPtr &msg)

Variables
std::string	calib_file_path = ""
static bool	imu_advertised = false
std::vector< double >	imu_angular_velocity_covariance_diagonal
std::vector< float >	imu_calibration_bias = {0.0, 0.0, 0.0}
std::string	imu_frame_id = "imu"
std::vector< double >	imu_linear_acceleration_covariance_diagonal
static ros::Publisher	imu_pub
static ros::Subscriber	imu_sub
static bool	joint_states_advertised = false
static ros::Publisher	joint_states_pub
std::string	odom_frame_id = "odom"
static bool	odom_merged_advertised = false
static geometry_msgs::Point	odom_merged_position
static ros::Publisher	odom_merged_pub
static ros::Timer	odom_merged_timer
static double	odom_merged_yaw
static ros::ServiceClient	odom_reset_client
constexpr double	PI = 3.141592653
static ros::ServiceServer	reset_odometry_service
std::string	robot_frame_id = "base_link"
ros::ServiceServer	set_imu_calibration_service
std::string	tf_frame_prefix = ""
static double	velocity_angular_z = 0
static double	velocity_linear_x = 0
static double	velocity_linear_y = 0
std::vector< std::string >	wheel_joint_names
static bool	wheel_odom_advertised = false
static bool	wheel_odom_mecanum_advertised = false
static ros::Subscriber	wheel_odom_mecanum_sub
std::vector< double >	wheel_odom_mecanum_twist_covariance_diagonal
static ros::Publisher	wheel_odom_pub
static ros::Subscriber	wheel_odom_sub
std::vector< double >	wheel_odom_twist_covariance_diagonal
static ros::Subscriber	wheel_states_sub

Function Documentation

get_calib_path()

std::string get_calib_path

(

)

Definition at line 242 of file firmware_message_converter.cpp.

imu_callback()

void imu_callback

(

const leo_msgs::ImuPtr &

msg

)

Definition at line 125 of file firmware_message_converter.cpp.

load_parameters()

void load_parameters

(

ros::NodeHandle &

pnh

)

Definition at line 70 of file firmware_message_converter.cpp.

load_yaml_bias()

void load_yaml_bias

(

)

Definition at line 215 of file firmware_message_converter.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 285 of file firmware_message_converter.cpp.

mecanum_odom_callback()

void mecanum_odom_callback

(

const leo_msgs::WheelOdomMecanumPtr &

msg

)

Definition at line 148 of file firmware_message_converter.cpp.

merge_odometry_callback()

void merge_odometry_callback

(

const ros::TimerEvent &

events

)

Definition at line 171 of file firmware_message_converter.cpp.

reset_odometry_callback()

bool reset_odometry_callback	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	res
	)

Definition at line 271 of file firmware_message_converter.cpp.

set_imu_calibration_callback()

bool set_imu_calibration_callback	(	leo_msgs::SetImuCalibrationRequest &	req,
		leo_msgs::SetImuCalibrationResponse &	res
	)

Definition at line 255 of file firmware_message_converter.cpp.

wheel_odom_callback()

void wheel_odom_callback

(

const leo_msgs::WheelOdomPtr &

msg

)

Definition at line 104 of file firmware_message_converter.cpp.

wheel_states_callback()

void wheel_states_callback

(

const leo_msgs::WheelStatesPtr &

msg

)

Definition at line 90 of file firmware_message_converter.cpp.

Variable Documentation

calib_file_path

std::string calib_file_path = ""

Definition at line 68 of file firmware_message_converter.cpp.

imu_advertised

bool imu_advertised = false

static

Definition at line 36 of file firmware_message_converter.cpp.

imu_angular_velocity_covariance_diagonal

std::vector<double> imu_angular_velocity_covariance_diagonal

Initial value:

= {
    0.000001, 0.000001, 0.00001}

Definition at line 61 of file firmware_message_converter.cpp.

imu_calibration_bias

std::vector<float> imu_calibration_bias = {0.0, 0.0, 0.0}

Definition at line 67 of file firmware_message_converter.cpp.

imu_frame_id

std::string imu_frame_id = "imu"

Definition at line 53 of file firmware_message_converter.cpp.

imu_linear_acceleration_covariance_diagonal

std::vector<double> imu_linear_acceleration_covariance_diagonal

Initial value:

= {0.001, 0.001,
                                                                   0.001}

Definition at line 63 of file firmware_message_converter.cpp.

imu_pub

ros::Publisher imu_pub

static

Definition at line 35 of file firmware_message_converter.cpp.

imu_sub

ros::Subscriber imu_sub

static

Definition at line 34 of file firmware_message_converter.cpp.

joint_states_advertised

bool joint_states_advertised = false

static

Definition at line 25 of file firmware_message_converter.cpp.

joint_states_pub

ros::Publisher joint_states_pub

static

Definition at line 24 of file firmware_message_converter.cpp.

odom_frame_id

std::string odom_frame_id = "odom"

Definition at line 52 of file firmware_message_converter.cpp.

odom_merged_advertised

bool odom_merged_advertised = false

static

Definition at line 42 of file firmware_message_converter.cpp.

odom_merged_position

geometry_msgs::Point odom_merged_position

static

Definition at line 40 of file firmware_message_converter.cpp.

odom_merged_pub

ros::Publisher odom_merged_pub

static

Definition at line 38 of file firmware_message_converter.cpp.

odom_merged_timer

ros::Timer odom_merged_timer

static

Definition at line 39 of file firmware_message_converter.cpp.

odom_merged_yaw

double odom_merged_yaw

static

Definition at line 41 of file firmware_message_converter.cpp.

odom_reset_client

ros::ServiceClient odom_reset_client

static

Definition at line 46 of file firmware_message_converter.cpp.

PI

constexpr double PI = 3.141592653

constexpr

Definition at line 21 of file firmware_message_converter.cpp.

reset_odometry_service

ros::ServiceServer reset_odometry_service

static

Definition at line 47 of file firmware_message_converter.cpp.

robot_frame_id

std::string robot_frame_id = "base_link"

Definition at line 51 of file firmware_message_converter.cpp.

set_imu_calibration_service

ros::ServiceServer set_imu_calibration_service

Definition at line 49 of file firmware_message_converter.cpp.

tf_frame_prefix

std::string tf_frame_prefix = ""

Definition at line 65 of file firmware_message_converter.cpp.

velocity_angular_z

double velocity_angular_z = 0

static

Definition at line 45 of file firmware_message_converter.cpp.

velocity_linear_x

double velocity_linear_x = 0

static

Definition at line 43 of file firmware_message_converter.cpp.

velocity_linear_y

double velocity_linear_y = 0

static

Definition at line 44 of file firmware_message_converter.cpp.

wheel_joint_names

std::vector<std::string> wheel_joint_names

Initial value:

= {
    "wheel_FL_joint", "wheel_RL_joint", "wheel_FR_joint", "wheel_RR_joint"}

Definition at line 54 of file firmware_message_converter.cpp.

wheel_odom_advertised

bool wheel_odom_advertised = false

static

Definition at line 29 of file firmware_message_converter.cpp.

wheel_odom_mecanum_advertised

bool wheel_odom_mecanum_advertised = false

static

Definition at line 31 of file firmware_message_converter.cpp.

wheel_odom_mecanum_sub

ros::Subscriber wheel_odom_mecanum_sub

static

Definition at line 32 of file firmware_message_converter.cpp.

wheel_odom_mecanum_twist_covariance_diagonal

std::vector<double> wheel_odom_mecanum_twist_covariance_diagonal

Initial value:

= {
    0.0001, 0.0001, 0.0, 0.0, 0.0, 0.001}

Definition at line 58 of file firmware_message_converter.cpp.

wheel_odom_pub

ros::Publisher wheel_odom_pub

static

Definition at line 28 of file firmware_message_converter.cpp.

wheel_odom_sub

ros::Subscriber wheel_odom_sub

static

Definition at line 27 of file firmware_message_converter.cpp.

wheel_odom_twist_covariance_diagonal

std::vector<double> wheel_odom_twist_covariance_diagonal

Initial value:

= {0.0001, 0.0, 0.0,
                                                            0.0,    0.0, 0.001}

Definition at line 56 of file firmware_message_converter.cpp.

wheel_states_sub

ros::Subscriber wheel_states_sub

static

Definition at line 23 of file firmware_message_converter.cpp.