SegwayRMPNode Class Reference

List of all members.

Public Member Functions
void	cmd_velCallback (const geometry_msgs::Twist::ConstPtr &msg)
void	disconnect ()
void	handleStatus (segwayrmp::SegwayStatus::Ptr &ss_ptr)
void	keepAliveCallback (const ros::TimerEvent &e)
void	motor_timeoutCallback (const ros::TimerEvent &e)
void	run ()
	SegwayRMPNode ()
bool	spin ()
	~SegwayRMPNode ()
Private Member Functions
int	getParameters ()
void	setupROSComms ()
void	setupSegwayRMP ()
Private Attributes
double	angular_neg_accel_limit
double	angular_pos_accel_limit
double	angular_vel
bool	broadcast_tf
ros::Subscriber	cmd_velSubscriber
bool	connected
int	count
bool	first_odometry
std::string	frame_id
segwayrmp::InterfaceType	interface_type
std::string	interface_type_str
bool	invert_x
bool	invert_z
ros::Timer	keep_alive_timer
float	last_forward_displacement
ros::Time	last_time
float	last_yaw_displacement
double	linear_neg_accel_limit
double	linear_pos_accel_limit
double	linear_vel
boost::mutex	m_mutex
ros::Timer	motor_timeout_timer
ros::NodeHandle *	n
tf::TransformBroadcaster	odom_broadcaster
nav_msgs::Odometry	odom_msg
ros::Publisher	odom_pub
geometry_msgs::TransformStamped	odom_trans
float	odometry_w
float	odometry_x
float	odometry_y
double	segway_motor_timeout
segwayrmp::SegwayRMP *	segway_rmp
segwayrmp::SegwayRMPType	segway_rmp_type
ros::Publisher	segway_status_pub
std::string	serial_number
std::string	serial_port
segway_rmpX::SegwayStatusStamped	sss_msg
double	target_angular_vel
double	target_linear_vel
std::string	usb_description
int	usb_index
std::string	usb_selector

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Detailed Description

Definition at line 53 of file segway_rmp_node.cpp.

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Constructor & Destructor Documentation

SegwayRMPNode::SegwayRMPNode

(

)

[inline]

Definition at line 55 of file segway_rmp_node.cpp.

SegwayRMPNode::~SegwayRMPNode

(

)

[inline]

Definition at line 67 of file segway_rmp_node.cpp.

---

Member Function Documentation

void SegwayRMPNode::cmd_velCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[inline]

The handler for messages received on the 'cmd_vel' topic.

Definition at line 301 of file segway_rmp_node.cpp.

void SegwayRMPNode::disconnect

(

)

[inline]

Definition at line 71 of file segway_rmp_node.cpp.

int SegwayRMPNode::getParameters

(

)

[inline, private]

Definition at line 370 of file segway_rmp_node.cpp.

void SegwayRMPNode::handleStatus

(

segwayrmp::SegwayStatus::Ptr &

ss_ptr

)

[inline]

Definition at line 183 of file segway_rmp_node.cpp.

void SegwayRMPNode::keepAliveCallback

(

const ros::TimerEvent &

e

)

[inline]

This method is called at 20Hz. Each time it sends a movement command to the Segway RMP.

Definition at line 128 of file segway_rmp_node.cpp.

void SegwayRMPNode::motor_timeoutCallback

(

const ros::TimerEvent &

e

)

[inline]

This method is called if a motor command is not received within the segway_motor_timeout interval. It halts the robot for safety reasons.

Definition at line 291 of file segway_rmp_node.cpp.

void SegwayRMPNode::run

(

)

[inline]

Definition at line 77 of file segway_rmp_node.cpp.

void SegwayRMPNode::setupROSComms

(

)

[inline, private]

Definition at line 327 of file segway_rmp_node.cpp.

void SegwayRMPNode::setupSegwayRMP

(

)

[inline, private]

Definition at line 336 of file segway_rmp_node.cpp.

bool SegwayRMPNode::spin

(

)

[inline]

Definition at line 110 of file segway_rmp_node.cpp.

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Member Data Documentation

double SegwayRMPNode::angular_neg_accel_limit [private]

Definition at line 513 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_pos_accel_limit [private]

Definition at line 512 of file segway_rmp_node.cpp.

double SegwayRMPNode::angular_vel [private]

Definition at line 505 of file segway_rmp_node.cpp.

bool SegwayRMPNode::broadcast_tf [private]

Definition at line 502 of file segway_rmp_node.cpp.

ros::Subscriber SegwayRMPNode::cmd_velSubscriber [private]

Definition at line 481 of file segway_rmp_node.cpp.

bool SegwayRMPNode::connected [private]

Definition at line 515 of file segway_rmp_node.cpp.

int SegwayRMPNode::count [private]

Definition at line 521 of file segway_rmp_node.cpp.

bool SegwayRMPNode::first_odometry [private]

Definition at line 523 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::frame_id [private]

Definition at line 500 of file segway_rmp_node.cpp.

segwayrmp::InterfaceType SegwayRMPNode::interface_type [private]

Definition at line 489 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::interface_type_str [private]

Definition at line 488 of file segway_rmp_node.cpp.

bool SegwayRMPNode::invert_x [private]

Definition at line 501 of file segway_rmp_node.cpp.

bool SegwayRMPNode::invert_z [private]

Definition at line 501 of file segway_rmp_node.cpp.

ros::Timer SegwayRMPNode::keep_alive_timer [private]

Definition at line 479 of file segway_rmp_node.cpp.

float SegwayRMPNode::last_forward_displacement [private]

Definition at line 524 of file segway_rmp_node.cpp.

ros::Time SegwayRMPNode::last_time [private]

Definition at line 529 of file segway_rmp_node.cpp.

float SegwayRMPNode::last_yaw_displacement [private]

Definition at line 525 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_neg_accel_limit [private]

Definition at line 511 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_pos_accel_limit [private]

Definition at line 510 of file segway_rmp_node.cpp.

double SegwayRMPNode::linear_vel [private]

Definition at line 504 of file segway_rmp_node.cpp.

boost::mutex SegwayRMPNode::m_mutex [private]

Definition at line 531 of file segway_rmp_node.cpp.

ros::Timer SegwayRMPNode::motor_timeout_timer [private]

Definition at line 498 of file segway_rmp_node.cpp.

ros::NodeHandle* SegwayRMPNode::n [private]

Definition at line 477 of file segway_rmp_node.cpp.

tf::TransformBroadcaster SegwayRMPNode::odom_broadcaster [private]

Definition at line 484 of file segway_rmp_node.cpp.

nav_msgs::Odometry SegwayRMPNode::odom_msg [private]

Definition at line 519 of file segway_rmp_node.cpp.

ros::Publisher SegwayRMPNode::odom_pub [private]

Definition at line 483 of file segway_rmp_node.cpp.

geometry_msgs::TransformStamped SegwayRMPNode::odom_trans [private]

Definition at line 518 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_w [private]

Definition at line 528 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_x [private]

Definition at line 526 of file segway_rmp_node.cpp.

float SegwayRMPNode::odometry_y [private]

Definition at line 527 of file segway_rmp_node.cpp.

double SegwayRMPNode::segway_motor_timeout [private]

Definition at line 497 of file segway_rmp_node.cpp.

segwayrmp::SegwayRMP* SegwayRMPNode::segway_rmp [private]

Definition at line 486 of file segway_rmp_node.cpp.

segwayrmp::SegwayRMPType SegwayRMPNode::segway_rmp_type [private]

Definition at line 490 of file segway_rmp_node.cpp.

ros::Publisher SegwayRMPNode::segway_status_pub [private]

Definition at line 482 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::serial_number [private]

Definition at line 493 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::serial_port [private]

Definition at line 491 of file segway_rmp_node.cpp.

segway_rmpX::SegwayStatusStamped SegwayRMPNode::sss_msg [private]

Definition at line 517 of file segway_rmp_node.cpp.

double SegwayRMPNode::target_angular_vel [private]

Definition at line 508 of file segway_rmp_node.cpp.

double SegwayRMPNode::target_linear_vel [private]

Definition at line 507 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::usb_description [private]

Definition at line 494 of file segway_rmp_node.cpp.

int SegwayRMPNode::usb_index [private]

Definition at line 495 of file segway_rmp_node.cpp.

std::string SegwayRMPNode::usb_selector [private]

Definition at line 492 of file segway_rmp_node.cpp.

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

• segway_rmp_node.cpp