SkinDemoMovebase Class Reference

#include <skin_demo_movebase.h>

Classes
struct	sensor_data_struct
Public Member Functions
void	publishBaseCommand ()
	Publishes base commands.
	SkinDemoMovebase ()
	Constructor initializes SkinDemoMovebase.
virtual	~SkinDemoMovebase ()
	Destructor of SkinDemoMovebase.
Private Member Functions
void	loadParameterInt (ros::NodeHandle &nh_, std::string param, int &data)
	Loads integer parameter from ROS parameter server.
void	loadParameterIntArray (ros::NodeHandle &nh_, std::string param, std::vector< int > &vec)
	Loads integer array parameter from ROS parameter server.
void	skinNewMeasCallback (const boost::shared_ptr< skin_driver::skin_meas const > &msg)
	Callback function which is called when new skin message arrives.
Private Attributes
boost::circular_buffer < geometry_msgs::Twist >	buf_command_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
int	num_sensors_
std::vector< int >	patches_bw_
std::vector< int >	patches_fw_
std::vector< int >	patches_left_
std::vector< int >	patches_right_
std::vector< int >	patches_yawleft_
std::vector< int >	patches_yawright_
ros::Publisher	pub_cmd_vel_
ros::Subscriber	sub_skin_data_

Detailed Description

SkinDemoMovebase class.

Reads skin messages and drives base in specific direction based on activated sensor patch. Velocity is determined by how close an object is to the skin patch.

Definition at line 50 of file skin_demo_movebase.h.

Constructor & Destructor Documentation

SkinDemoMovebase::SkinDemoMovebase ( )

Constructor initializes SkinDemoMovebase.

Initialize buffers, subscribe to skin_data message and register publisher of /base_controller/command message.

Definition at line 40 of file skin_demo_movebase.cpp.

SkinDemoMovebase::~SkinDemoMovebase ( ) [virtual]

Destructor of SkinDemoMovebase.

Definition at line 62 of file skin_demo_movebase.cpp.

Member Function Documentation

void SkinDemoMovebase::loadParameterInt	(	ros::NodeHandle &	nh_,
		std::string	param,
		int &	data
	)			`[private]`

Loads integer parameter from ROS parameter server.

Loads parameter, if parameter not present notifies user and exits.

Parameters:

	nh_	Node Handle to use
	param	Name of parameter to load
	data	Contains loaded parameter from server

Definition at line 296 of file skin_demo_movebase.cpp.

void SkinDemoMovebase::loadParameterIntArray	(	ros::NodeHandle &	nh_,
		std::string	param,
		std::vector< int > &	vec
	)			`[private]`

Loads integer array parameter from ROS parameter server.

Loads parameter array, if parameter not present notifies user and exits. Parameter array is returned as std::vector<int>.

Parameters:

	nh_	Node Handle to use
	param	Name of parameter to load
	vec	Contains loaded parameter from server

Definition at line 318 of file skin_demo_movebase.cpp.

void SkinDemoMovebase::publishBaseCommand ( )

Publishes base commands.

Started by main, publishes base commands. Either command from buffer (where user commands are stored by skinNewMeasCallback) or stop messages with 0 velocity are published.

Definition at line 255 of file skin_demo_movebase.cpp.

void SkinDemoMovebase::skinNewMeasCallback ( const boost::shared_ptr< skin_driver::skin_meas const > & msg ) [private]

Callback function which is called when new skin message arrives.

Converts skin message and generates drive commands which are put in a circular buffer. These commands are read by publishing function.

Parameters:

msg

skin_data message.

Definition at line 73 of file skin_demo_movebase.cpp.