fake_kobuki.cpp
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00001 #include <kobuki_softnode/fake_kobuki.h>
00002 
00003 namespace kobuki
00004 {
00005   void FakeKobuki::init(ros::NodeHandle& nh)
00006   {
00007     this->wheel_speed_cmd[LEFT] = 0.0;
00008     this->wheel_speed_cmd[RIGHT] = 0.0;
00009 
00010     // using the same values as in kobuki_node
00011     double pcov[36] = { 0.1,   0,   0,   0,   0, 0,
00012                           0, 0.1,   0,   0,   0, 0,
00013                           0,   0, 1e6,   0,   0, 0,
00014                           0,   0,   0, 1e6,   0, 0,
00015                           0,   0,   0,   0, 1e6, 0,
00016                           0,   0,   0,   0,   0, 0.2};
00017     memcpy(&(this->odom.pose.covariance),pcov,sizeof(double)*36);
00018     memcpy(&(this->odom.twist.covariance),pcov,sizeof(double)*36);
00019 
00020     // wheel information from kobuki_gazebo
00021     this->wheel_separation = 0.23;
00022     this->wheel_diameter = 0.070;
00023 
00024     // joint states
00025     nh.param("wheel_left_joint_name",this->wheel_joint_name[LEFT], std::string("wheel_left_joint"));
00026     nh.param("wheel_right_joint_name",this->wheel_joint_name[RIGHT], std::string("wheel_right_joint"));
00027     nh.param("cmd_vel_timeout",this->cmd_vel_timeout, 0.6);
00028     this->cmd_vel_timeout = 1.0;
00029 
00030     this->motor_enabled = true;
00031 
00032     this->joint_states.header.frame_id = "Joint States";
00033     this->joint_states.name.push_back(wheel_joint_name[LEFT]);
00034     this->joint_states.name.push_back(wheel_joint_name[RIGHT]);
00035     this->joint_states.position.resize(2,0.0);
00036     this->joint_states.velocity.resize(2,0.0);
00037     this->joint_states.effort.resize(2,0.0);
00038 
00039     // odometry
00040     nh.param("odom_frame",this->odom.header.frame_id,std::string("odom"));
00041     nh.param("base_frame",this->odom.child_frame_id,std::string("base_footprint"));
00042 
00043     this->versioninfo.hardware = "dumb";
00044     this->versioninfo.firmware = "fake";
00045     this->versioninfo.software = "0.0.0";
00046 
00047     this->odom_pose[0] = 0;
00048     this->odom_pose[1] = 0;
00049     this->odom_pose[2] = 0;
00050 
00051   }
00052 }
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kobuki_softnode
Author(s): Jihoon Lee
autogenerated on Tue Jul 9 2013 11:05:05