The SickSafetyscannersRos class. More...

#include <SickSafetyscannersRos.h>

Public Member Functions
	SickSafetyscannersRos ()
	Constructor of the SickSafetyscannersRos. More...

virtual	~SickSafetyscannersRos ()
	~SickSafetyscannersRos Destructor if the SickSafetyscanners ROS More...

Private Member Functions
sick_safetyscanners::ApplicationDataMsg	createApplicationDataMessage (const sick::datastructure::Data &data)

sick_safetyscanners::ApplicationInputsMsg	createApplicationInputsMessage (const sick::datastructure::Data &data)

sick_safetyscanners::ApplicationOutputsMsg	createApplicationOutputsMessage (const sick::datastructure::Data &data)

sick_safetyscanners::DataHeaderMsg	createDataHeaderMessage (const sick::datastructure::Data &data)

sick_safetyscanners::DerivedValuesMsg	createDerivedValuesMessage (const sick::datastructure::Data &data)

sick_safetyscanners::ExtendedLaserScanMsg	createExtendedLaserScanMessage (const sick::datastructure::Data &data)

sick_safetyscanners::GeneralSystemStateMsg	createGeneralSystemStateMessage (const sick::datastructure::Data &data)

sick_safetyscanners::IntrusionDataMsg	createIntrusionDataMessage (const sick::datastructure::Data &data)

std::vector< sick_safetyscanners::IntrusionDatumMsg >	createIntrusionDatumMessageVector (const sick::datastructure::Data &data)

sensor_msgs::LaserScan	createLaserScanMessage (const sick::datastructure::Data &data)

sick_safetyscanners::MeasurementDataMsg	createMeasurementDataMessage (const sick::datastructure::Data &data)

sick_safetyscanners::OutputPathsMsg	createOutputPathsMessage (const sick::datastructure::Data &data)

sick_safetyscanners::RawMicroScanDataMsg	createRawDataMessage (const sick::datastructure::Data &data)

std::vector< sick_safetyscanners::ScanPointMsg >	createScanPointMessageVector (const sick::datastructure::Data &data)

std::string	getCheckSumString (uint32_t checksum)
	getCheckSumString converts the uint32 value received as checksum such that the hexadecimal representation matches the value in the SafetyDesigner. To do this, we must invert the order of the bytes More...

bool	getConfigMetadata (sick_safetyscanners::ConfigMetadata::Request &req, sick_safetyscanners::ConfigMetadata::Response &res)

std::string	getDateString (uint32_t days_since_1972, uint32_t milli_seconds)
	getDateString converts the date representation received as days since 1972-01-01 and milliseconds since the start of that day to the form as given in the Cola2 documentation More...

bool	getFieldData (sick_safetyscanners::FieldData::Request &req, sick_safetyscanners::FieldData::Response &res)

std::vector< bool >	getMedianReflectors (const std::vector< sick::datastructure::ScanPoint > scan_points)

bool	getStatusOverview (sick_safetyscanners::StatusOverview::Request &req, sick_safetyscanners::StatusOverview::Response &res)

bool	isInitialised ()

bool	readParameters ()
	Reads and verifies the ROS parameters. More...

void	readPersistentConfig ()

void	readTypeCodeSettings ()

void	receivedUDPPacket (const datastructure::Data &data)
	Function which is called when a new complete UDP Packet is received. More...

void	reconfigureCallback (const sick_safetyscanners::SickSafetyscannersConfigurationConfig &config, const uint32_t &level)
	Function which is triggered when a dynamic reconfiguration is performed. More...

void	sensorDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &diagnostic_status)

Private Attributes
sick::datastructure::ConfigMetadata	config_meta_data

sick::datastructure::FirmwareVersion	firmware_version

float	m_angle_offset

sick::datastructure::CommSettings	m_communication_settings

ros::ServiceServer	m_config_metadata_server

std::shared_ptr< sick::SickSafetyscanners >	m_device

std::shared_ptr< DiagnosedLaserScanPublisher >	m_diagnosed_laser_scan_publisher

diagnostic_updater::Updater	m_diagnostic_updater

dynamic_reconfigure::Server< sick_safetyscanners::SickSafetyscannersConfigurationConfig >	m_dynamic_reconfiguration_server

double	m_expected_frequency = 20.0

ros::Publisher	m_extended_laser_scan_publisher

ros::ServiceServer	m_field_service_server

std::string	m_frame_id

double	m_frequency_tolerance = 0.1

bool	m_initialised

boost::asio::ip::address_v4	m_interface_ip

ros::Publisher	m_laser_scan_publisher
	ROS topic publisher. More...

sick_safetyscanners::RawMicroScanDataMsg	m_last_raw_data

double	m_min_intensities = 0.0

ros::NodeHandle	m_nh
	ROS node handle. More...

ros::Publisher	m_output_path_publisher

ros::NodeHandle	m_private_nh
	ROS private node handle. More...

double	m_range_max

double	m_range_min

ros::Publisher	m_raw_data_publisher

ros::ServiceServer	m_status_overview_server

double	m_time_offset

double	m_timestamp_max_acceptable = 1.0

double	m_timestamp_min_acceptable = -1.0

bool	m_use_pers_conf

bool	m_use_sick_angles

Detailed Description

The SickSafetyscannersRos class.

Main class for the node to handle the ROS interfacing.

Definition at line 107 of file SickSafetyscannersRos.h.

Constructor & Destructor Documentation

◆ SickSafetyscannersRos()

sick::SickSafetyscannersRos::SickSafetyscannersRos ( )

Constructor of the SickSafetyscannersRos.

Constructor of the SickSafetyscannersRos, loads all parameters from the parameter server, initialises the dynamic reconfiguration server. Furthermore initialises the ROS Publishers for the different laserscan outputs.

Definition at line 41 of file SickSafetyscannersRos.cpp.

◆ ~SickSafetyscannersRos()

sick::SickSafetyscannersRos::~SickSafetyscannersRos ( )

virtual

~SickSafetyscannersRos Destructor if the SickSafetyscanners ROS

Definition at line 165 of file SickSafetyscannersRos.cpp.

Member Function Documentation

◆ createApplicationDataMessage()

sick_safetyscanners::ApplicationDataMsg sick::SickSafetyscannersRos::createApplicationDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 698 of file SickSafetyscannersRos.cpp.

◆ createApplicationInputsMessage()

sick_safetyscanners::ApplicationInputsMsg sick::SickSafetyscannersRos::createApplicationInputsMessage ( const sick::datastructure::Data & data )

private

Definition at line 711 of file SickSafetyscannersRos.cpp.

◆ createApplicationOutputsMessage()

sick_safetyscanners::ApplicationOutputsMsg sick::SickSafetyscannersRos::createApplicationOutputsMessage ( const sick::datastructure::Data & data )

private

Definition at line 744 of file SickSafetyscannersRos.cpp.

◆ createDataHeaderMessage()

sick_safetyscanners::DataHeaderMsg sick::SickSafetyscannersRos::createDataHeaderMessage ( const sick::datastructure::Data & data )

private

Definition at line 522 of file SickSafetyscannersRos.cpp.

◆ createDerivedValuesMessage()

sick_safetyscanners::DerivedValuesMsg sick::SickSafetyscannersRos::createDerivedValuesMessage ( const sick::datastructure::Data & data )

private

Definition at line 550 of file SickSafetyscannersRos.cpp.

◆ createExtendedLaserScanMessage()

sick_safetyscanners::ExtendedLaserScanMsg sick::SickSafetyscannersRos::createExtendedLaserScanMessage ( const sick::datastructure::Data & data )

private

Definition at line 367 of file SickSafetyscannersRos.cpp.

◆ createGeneralSystemStateMessage()

sick_safetyscanners::GeneralSystemStateMsg sick::SickSafetyscannersRos::createGeneralSystemStateMessage ( const sick::datastructure::Data & data )

private

Definition at line 569 of file SickSafetyscannersRos.cpp.

◆ createIntrusionDataMessage()

sick_safetyscanners::IntrusionDataMsg sick::SickSafetyscannersRos::createIntrusionDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 662 of file SickSafetyscannersRos.cpp.

◆ createIntrusionDatumMessageVector()

std::vector< sick_safetyscanners::IntrusionDatumMsg > sick::SickSafetyscannersRos::createIntrusionDatumMessageVector ( const sick::datastructure::Data & data )

private

Definition at line 674 of file SickSafetyscannersRos.cpp.

◆ createLaserScanMessage()

sensor_msgs::LaserScan sick::SickSafetyscannersRos::createLaserScanMessage ( const sick::datastructure::Data & data )

private

Definition at line 418 of file SickSafetyscannersRos.cpp.

◆ createMeasurementDataMessage()

sick_safetyscanners::MeasurementDataMsg sick::SickSafetyscannersRos::createMeasurementDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 620 of file SickSafetyscannersRos.cpp.

◆ createOutputPathsMessage()

sick_safetyscanners::OutputPathsMsg sick::SickSafetyscannersRos::createOutputPathsMessage ( const sick::datastructure::Data & data )

private

Definition at line 473 of file SickSafetyscannersRos.cpp.

◆ createRawDataMessage()

sick_safetyscanners::RawMicroScanDataMsg sick::SickSafetyscannersRos::createRawDataMessage ( const sick::datastructure::Data & data )

private

Definition at line 507 of file SickSafetyscannersRos.cpp.

◆ createScanPointMessageVector()

std::vector< sick_safetyscanners::ScanPointMsg > sick::SickSafetyscannersRos::createScanPointMessageVector ( const sick::datastructure::Data & data )

private

Definition at line 633 of file SickSafetyscannersRos.cpp.

◆ getCheckSumString()

std::string sick::SickSafetyscannersRos::getCheckSumString ( uint32_t checksum )

private

getCheckSumString converts the uint32 value received as checksum such that the hexadecimal representation matches the value in the SafetyDesigner. To do this, we must invert the order of the bytes

Parameters

checksum as returned from API

Returns: hex string representing uint32 from reverted byte order

Definition at line 913 of file SickSafetyscannersRos.cpp.

◆ getConfigMetadata()

bool sick::SickSafetyscannersRos::getConfigMetadata	(	sick_safetyscanners::ConfigMetadata::Request &	req,
		sick_safetyscanners::ConfigMetadata::Response &	res
	)

private

Definition at line 853 of file SickSafetyscannersRos.cpp.

◆ getDateString()

std::string sick::SickSafetyscannersRos::getDateString	(	uint32_t	days_since_1972,
		uint32_t	milli_seconds
	)

private

getDateString converts the date representation received as days since 1972-01-01 and milliseconds since the start of that day to the form as given in the Cola2 documentation

Parameters

days_since_1972	days from Jan 1, 1972 until day of transfer/modification
milli_seconds	milliseconds since 0:00 on that day of transfer/modification

Returns: date string in the format YYYY-mm-DD HH:MM:SS

Definition at line 921 of file SickSafetyscannersRos.cpp.

◆ getFieldData()

bool sick::SickSafetyscannersRos::getFieldData	(	sick_safetyscanners::FieldData::Request &	req,
		sick_safetyscanners::FieldData::Response &	res
	)

private

Definition at line 802 of file SickSafetyscannersRos.cpp.

◆ getMedianReflectors()

std::vector< bool > sick::SickSafetyscannersRos::getMedianReflectors ( const std::vector< sick::datastructure::ScanPoint > scan_points )

private

Definition at line 392 of file SickSafetyscannersRos.cpp.

◆ getStatusOverview()

bool sick::SickSafetyscannersRos::getStatusOverview	(	sick_safetyscanners::StatusOverview::Request &	req,
		sick_safetyscanners::StatusOverview::Response &	res
	)

private

Definition at line 882 of file SickSafetyscannersRos.cpp.

◆ isInitialised()

bool sick::SickSafetyscannersRos::isInitialised ( )

private

Definition at line 159 of file SickSafetyscannersRos.cpp.

◆ readParameters()

bool sick::SickSafetyscannersRos::readParameters ( )

private

Reads and verifies the ROS parameters.

Returns: True if successful.

Definition at line 167 of file SickSafetyscannersRos.cpp.

◆ readPersistentConfig()

void sick::SickSafetyscannersRos::readPersistentConfig ( )

private

Definition at line 116 of file SickSafetyscannersRos.cpp.

◆ readTypeCodeSettings()

void sick::SickSafetyscannersRos::readTypeCodeSettings ( )

private

Definition at line 106 of file SickSafetyscannersRos.cpp.

◆ receivedUDPPacket()

void sick::SickSafetyscannersRos::receivedUDPPacket ( const datastructure::Data & data )

private

Function which is called when a new complete UDP Packet is received.

Parameters

data,the assortment of all data from the sensor

Definition at line 267 of file SickSafetyscannersRos.cpp.

◆ reconfigureCallback()

void sick::SickSafetyscannersRos::reconfigureCallback	(	const sick_safetyscanners::SickSafetyscannersConfigurationConfig &	config,
		const uint32_t &	level
	)

private

Function which is triggered when a dynamic reconfiguration is performed.

Parameters

config	The new configuration to set
level	Level of the new configuration

Definition at line 125 of file SickSafetyscannersRos.cpp.

◆ sensorDiagnostics()

void sick::SickSafetyscannersRos::sensorDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & diagnostic_status )

private

Definition at line 298 of file SickSafetyscannersRos.cpp.

Member Data Documentation

◆ config_meta_data

sick::datastructure::ConfigMetadata sick::SickSafetyscannersRos::config_meta_data

private

Definition at line 142 of file SickSafetyscannersRos.h.

◆ firmware_version

sick::datastructure::FirmwareVersion sick::SickSafetyscannersRos::firmware_version

private

Definition at line 143 of file SickSafetyscannersRos.h.

◆ m_angle_offset

float sick::SickSafetyscannersRos::m_angle_offset

private

Definition at line 171 of file SickSafetyscannersRos.h.

◆ m_communication_settings

sick::datastructure::CommSettings sick::SickSafetyscannersRos::m_communication_settings

private

Definition at line 154 of file SickSafetyscannersRos.h.

◆ m_config_metadata_server

ros::ServiceServer sick::SickSafetyscannersRos::m_config_metadata_server

private

Definition at line 147 of file SickSafetyscannersRos.h.

◆ m_device

std::shared_ptr<sick::SickSafetyscanners> sick::SickSafetyscannersRos::m_device

private

Definition at line 152 of file SickSafetyscannersRos.h.

◆ m_diagnosed_laser_scan_publisher

std::shared_ptr<DiagnosedLaserScanPublisher> sick::SickSafetyscannersRos::m_diagnosed_laser_scan_publisher

private

Definition at line 140 of file SickSafetyscannersRos.h.

◆ m_diagnostic_updater

diagnostic_updater::Updater sick::SickSafetyscannersRos::m_diagnostic_updater

private

Definition at line 139 of file SickSafetyscannersRos.h.

◆ m_dynamic_reconfiguration_server

dynamic_reconfigure::Server<sick_safetyscanners::SickSafetyscannersConfigurationConfig> sick::SickSafetyscannersRos::m_dynamic_reconfiguration_server

private

Definition at line 158 of file SickSafetyscannersRos.h.

◆ m_expected_frequency

double sick::SickSafetyscannersRos::m_expected_frequency = 20.0

private

Definition at line 165 of file SickSafetyscannersRos.h.

◆ m_extended_laser_scan_publisher

ros::Publisher sick::SickSafetyscannersRos::m_extended_laser_scan_publisher

private

Definition at line 134 of file SickSafetyscannersRos.h.

◆ m_field_service_server

ros::ServiceServer sick::SickSafetyscannersRos::m_field_service_server

private

Definition at line 146 of file SickSafetyscannersRos.h.

◆ m_frame_id

std::string sick::SickSafetyscannersRos::m_frame_id

private

Definition at line 160 of file SickSafetyscannersRos.h.

◆ m_frequency_tolerance

double sick::SickSafetyscannersRos::m_frequency_tolerance = 0.1

private

Definition at line 164 of file SickSafetyscannersRos.h.

◆ m_initialised

bool sick::SickSafetyscannersRos::m_initialised

private

Definition at line 150 of file SickSafetyscannersRos.h.

◆ m_interface_ip

boost::asio::ip::address_v4 sick::SickSafetyscannersRos::m_interface_ip

private

Definition at line 155 of file SickSafetyscannersRos.h.

◆ m_laser_scan_publisher

ros::Publisher sick::SickSafetyscannersRos::m_laser_scan_publisher

private

ROS topic publisher.

Definition at line 133 of file SickSafetyscannersRos.h.

◆ m_last_raw_data

sick_safetyscanners::RawMicroScanDataMsg sick::SickSafetyscannersRos::m_last_raw_data

private

Definition at line 141 of file SickSafetyscannersRos.h.

◆ m_min_intensities

double sick::SickSafetyscannersRos::m_min_intensities = 0.0

private

min intensities for laser points

Definition at line 168 of file SickSafetyscannersRos.h.

◆ m_nh

ros::NodeHandle sick::SickSafetyscannersRos::m_nh

private

ROS node handle.

Definition at line 127 of file SickSafetyscannersRos.h.

◆ m_output_path_publisher

ros::Publisher sick::SickSafetyscannersRos::m_output_path_publisher

private

Definition at line 136 of file SickSafetyscannersRos.h.

◆ m_private_nh

ros::NodeHandle sick::SickSafetyscannersRos::m_private_nh

private

ROS private node handle.

Definition at line 130 of file SickSafetyscannersRos.h.

◆ m_range_max

double sick::SickSafetyscannersRos::m_range_max

private

Definition at line 163 of file SickSafetyscannersRos.h.

◆ m_range_min

double sick::SickSafetyscannersRos::m_range_min

private

Definition at line 162 of file SickSafetyscannersRos.h.

◆ m_raw_data_publisher

ros::Publisher sick::SickSafetyscannersRos::m_raw_data_publisher

private

Definition at line 135 of file SickSafetyscannersRos.h.

◆ m_status_overview_server

ros::ServiceServer sick::SickSafetyscannersRos::m_status_overview_server

private

Definition at line 148 of file SickSafetyscannersRos.h.

◆ m_time_offset

double sick::SickSafetyscannersRos::m_time_offset

private

Definition at line 161 of file SickSafetyscannersRos.h.

◆ m_timestamp_max_acceptable

double sick::SickSafetyscannersRos::m_timestamp_max_acceptable = 1.0

private

Definition at line 167 of file SickSafetyscannersRos.h.

◆ m_timestamp_min_acceptable

double sick::SickSafetyscannersRos::m_timestamp_min_acceptable = -1.0

private

Definition at line 166 of file SickSafetyscannersRos.h.

◆ m_use_pers_conf

bool sick::SickSafetyscannersRos::m_use_pers_conf

private

Definition at line 172 of file SickSafetyscannersRos.h.

◆ m_use_sick_angles

bool sick::SickSafetyscannersRos::m_use_sick_angles

private

Definition at line 170 of file SickSafetyscannersRos.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SickSafetyscannersRos()

◆ ~SickSafetyscannersRos()

Member Function Documentation

◆ createApplicationDataMessage()

◆ createApplicationInputsMessage()

◆ createApplicationOutputsMessage()

◆ createDataHeaderMessage()

◆ createDerivedValuesMessage()

◆ createExtendedLaserScanMessage()

◆ createGeneralSystemStateMessage()

◆ createIntrusionDataMessage()

◆ createIntrusionDatumMessageVector()

◆ createLaserScanMessage()

◆ createMeasurementDataMessage()

◆ createOutputPathsMessage()

◆ createRawDataMessage()

◆ createScanPointMessageVector()

◆ getCheckSumString()

◆ getConfigMetadata()

◆ getDateString()

◆ getFieldData()

◆ getMedianReflectors()

◆ getStatusOverview()

◆ isInitialised()

◆ readParameters()

◆ readPersistentConfig()

◆ readTypeCodeSettings()

◆ receivedUDPPacket()

◆ reconfigureCallback()

◆ sensorDiagnostics()

Member Data Documentation

◆ config_meta_data

◆ firmware_version

◆ m_angle_offset

◆ m_communication_settings

◆ m_config_metadata_server

◆ m_device

◆ m_diagnosed_laser_scan_publisher

◆ m_diagnostic_updater

◆ m_dynamic_reconfiguration_server

◆ m_expected_frequency

◆ m_extended_laser_scan_publisher

◆ m_field_service_server

◆ m_frame_id

◆ m_frequency_tolerance

◆ m_initialised

◆ m_interface_ip

◆ m_laser_scan_publisher

◆ m_last_raw_data

◆ m_min_intensities

◆ m_nh

◆ m_output_path_publisher

◆ m_private_nh

◆ m_range_max

◆ m_range_min

◆ m_raw_data_publisher

◆ m_status_overview_server

◆ m_time_offset

◆ m_timestamp_max_acceptable

◆ m_timestamp_min_acceptable

◆ m_use_pers_conf

◆ m_use_sick_angles