IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_platform_simulator_alg_node.h>

Inheritance diagram for TibiDaboPlatformSimulatorAlgNode:

Public Member Functions
	TibiDaboPlatformSimulatorAlgNode (void)
	Constructor.
	~TibiDaboPlatformSimulatorAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	cmd_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
Private Attributes
CMutex	cmd_vel_mutex_
ros::Subscriber	cmd_vel_subscriber_
tf::TransformBroadcaster	odom_broadcaster
ros::Publisher	odom_publisher_
nav_msgs::Odometry	Odometry_msg_
geometry_msgs::PoseWithCovariance	pose
geometry_msgs::Transform	transform
geometry_msgs::TwistWithCovariance	twist

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file tibi_dabo_platform_simulator_alg_node.h.

Constructor & Destructor Documentation

TibiDaboPlatformSimulatorAlgNode::TibiDaboPlatformSimulatorAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file tibi_dabo_platform_simulator_alg_node.cpp.

TibiDaboPlatformSimulatorAlgNode::~TibiDaboPlatformSimulatorAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 24 of file tibi_dabo_platform_simulator_alg_node.cpp.

Member Function Documentation

void TibiDaboPlatformSimulatorAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboPlatformSimulatorAlgorithm >.

Definition at line 123 of file tibi_dabo_platform_simulator_alg_node.cpp.

void TibiDaboPlatformSimulatorAlgNode::cmd_vel_callback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Definition at line 43 of file tibi_dabo_platform_simulator_alg_node.cpp.

void TibiDaboPlatformSimulatorAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboPlatformSimulatorAlgorithm >.

Definition at line 29 of file tibi_dabo_platform_simulator_alg_node.cpp.

void TibiDaboPlatformSimulatorAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboPlatformSimulatorAlgorithm >.

Definition at line 116 of file tibi_dabo_platform_simulator_alg_node.cpp.