fake_kobuki.h
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00001 /*
00002  * Copyright (c) 2013, Yujin Robot.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Yujin Robot nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef _FAKE_KOBUKI_H_
00031 #define _FAKE_KOBUKI_H_
00032 
00033 #include <ros/ros.h>
00034 #include <nav_msgs/Odometry.h>
00035 #include <geometry_msgs/TransformStamped.h>
00036 #include <sensor_msgs/JointState.h>
00037 #include <kobuki_msgs/VersionInfo.h>
00038 
00039 // place holder for future support
00040 //#include <sensor_msgs/Imu.h>
00041 //#include <kobuki_msgs/ButtonEvent.h>
00042 //#include <kobuki_msgs/BumperEvent.h>
00043 //#include <kobuki_msgs/CliffEvent.h>
00044 //#include <kobuki_msgs/DigitalOutput.h>
00045 //#include <kobuki_msgs/DigitalInputEvent.h>
00046 //#include <kobuki_msgs/ExternalPower.h>
00047 //#include <kobuki_msgs/DockInfraRed.h>
00048 //#include <kobuki_msgs/Led.h>
00049 //#include <kobuki_msgs/MotorPower.h>
00050 //#include <kobuki_msgs/PowerSystemEvent.h>
00051 //#include <kobuki_msgs/RobotStateEvent.h>
00052 //#include <kobuki_msgs/SensorState.h>
00053 //#include <kobuki_msgs/Sound.h>
00054 //#include <kobuki_msgs/WheelDropEvent.h>
00055 
00056 namespace kobuki
00057 {
00058   enum {
00059     LEFT=0,
00060     RIGHT=1
00061   };
00062 
00063   class FakeKobuki
00064   {
00065     public:
00066       void init(ros::NodeHandle& nh);
00067 
00068       // variables
00069       kobuki_msgs::VersionInfo        versioninfo;
00070 
00071       sensor_msgs::JointState         joint_states;
00072       nav_msgs::Odometry              odom;
00073       float odom_pose[3];
00074       float odom_vel[3];
00075       double pose_cov[36];
00076 
00077       std::string wheel_joint_name[2];
00078       float wheel_speed_cmd[2];
00079       float wheel_separation;
00080       float wheel_diameter;
00081 
00082       bool motor_enabled;
00083       double cmd_vel_timeout;
00084 
00085       // events
00086 //      kobuki_msgs::BumperEvent        bumper_event;
00087 //      kobuki_msgs::DigitalInputEvent  digital_input;
00088 //      kobuki_msgs::WheelDropEvent     wheel_drop;
00089 //      kobuki_msgs::PowerSystemEvent   power_system;
00090 //      kobuki_msgs::CliffEvent         cliff;
00091 //      kobuki_msgs::ButtonEvent        button;
00092 
00093       // sensors
00094 //      kobuki_msgs::SensorState        core;
00095 //      kobuki_msgs::DockInfraRed       dock_ir;
00096 //      sensor_msgs::Imu                imu_data;
00097 
00098   };
00099 }
00100 #endif
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kobuki_softnode
Author(s): Jihoon Lee
autogenerated on Tue Jul 9 2013 11:05:05