mir_bridge Namespace Reference

Classes
class	MiRBridge
class	PublisherWrapper
class	SubscriberWrapper
class	TopicConfig

Functions
def	_cmd_vel_dict_filter (msg_dict)
def	_move_base_feedback_dict_filter (msg_dict)
def	_move_base_goal_dict_filter (msg_dict)
def	_move_base_result_dict_filter (msg_dict)
def	_prepend_tf_prefix_dict_filter (msg_dict)
def	_remove_tf_prefix_dict_filter (msg_dict)
def	_tf_dict_filter (msg_dict)
def	_tf_static_dict_filter (msg_dict)
def	main ()

Variables
list	PUB_TOPICS
	static_transforms = OrderedDict()
list	SUB_TOPICS
string	tf_prefix = ''

Function Documentation

_cmd_vel_dict_filter()

def mir_bridge._cmd_vel_dict_filter (   msg_dict )

private

Convert Twist to TwistStamped.

Convert a geometry_msgs/Twist message dict (as sent from the ROS side) to
a geometry_msgs/TwistStamped message dict (as expected by the MiR on
software version >=2.7).

Definition at line 96 of file mir_bridge.py.

_move_base_feedback_dict_filter()

def mir_bridge._move_base_feedback_dict_filter (   msg_dict )

private

Definition at line 80 of file mir_bridge.py.

_move_base_goal_dict_filter()

def mir_bridge._move_base_goal_dict_filter (   msg_dict )

private

Definition at line 72 of file mir_bridge.py.

_move_base_result_dict_filter()

def mir_bridge._move_base_result_dict_filter (   msg_dict )

private

Definition at line 90 of file mir_bridge.py.

_prepend_tf_prefix_dict_filter()

def mir_bridge._prepend_tf_prefix_dict_filter (   msg_dict )

private

Definition at line 159 of file mir_bridge.py.

_remove_tf_prefix_dict_filter()

def mir_bridge._remove_tf_prefix_dict_filter (   msg_dict )

private

Definition at line 186 of file mir_bridge.py.

_tf_dict_filter()

def mir_bridge._tf_dict_filter (   msg_dict )

private

Definition at line 112 of file mir_bridge.py.

_tf_static_dict_filter()

def mir_bridge._tf_static_dict_filter (   msg_dict )

private

Cache tf_static messages (simulate latching).

The tf_static topic needs special handling. Publishers on tf_static are *latched*, which means that the ROS master
caches the last message that was sent by each publisher on that topic, and will forward it to new subscribers.
However, since the mir_driver node appears to the ROS master as a single node with a single publisher on tf_static,
and there are multiple actual publishers hiding behind it on the MiR side, only one of those messages will be
cached. Therefore, we need to implement the caching ourselves and make sure that we always publish the full set of
transforms as a single message.

Definition at line 119 of file mir_bridge.py.

main()

def mir_bridge.main

(

)

Definition at line 519 of file mir_bridge.py.

Variable Documentation

PUB_TOPICS

list mir_bridge.PUB_TOPICS

Definition at line 210 of file mir_bridge.py.

static_transforms

mir_bridge.static_transforms = OrderedDict()

Definition at line 60 of file mir_bridge.py.

SUB_TOPICS

list mir_bridge.SUB_TOPICS

Initial value:

=  [
    # really geometry_msgs.msg.TwistStamped:
    TopicConfig('cmd_vel', geometry_msgs.msg.Twist, dict_filter=_cmd_vel_dict_filter),
    TopicConfig('initialpose', geometry_msgs.msg.PoseWithCovarianceStamped),
    TopicConfig('light_cmd', std_msgs.msg.String),
    TopicConfig('mir_cmd', std_msgs.msg.String),
    TopicConfig('move_base/cancel', actionlib_msgs.msg.GoalID),
    # really mir_actions/MirMoveBaseActionGoal:
    TopicConfig('move_base/goal', move_base_msgs.msg.MoveBaseActionGoal, dict_filter=_move_base_goal_dict_filter),
]

Definition at line 351 of file mir_bridge.py.

tf_prefix

string mir_bridge.tf_prefix = ''

Definition at line 59 of file mir_bridge.py.