Provides direct communication to the Rovio to control the motors. More...

#include <rovio_move.h>

Public Member Functions
	move_controller ()
	Creates a move_controller using ROS parameters.
void	update ()
	Sends commands to the Rovio to change the wheel speeds. head sensor information.
	~move_controller ()
	Cleans up any resources and connections to the Rovio.
Private Member Functions
void	cmd_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
	cmd_vel topic callback function.
void	man_drv_callback (const rovio_shared::man_drv::ConstPtr &msg)
	man_drv topic callback function.
Private Attributes
ros::Subscriber	cmd_vel
int	drive
std::string	host
ros::Subscriber	man_drv
ros::NodeHandle	node
int	rotate
rovio_http *	rovio
int	speed

Detailed Description

Provides direct communication to the Rovio to control the motors.

The move_controller handles communication to the Rovio's motor devices. ROS nodes and topics are created and maintained within this object.

Definition at line 27 of file rovio_move.h.

Constructor & Destructor Documentation

move_controller::move_controller ( )

Creates a move_controller using ROS parameters.

Creates a move_controller object that can be used control the Rovio's motors. A valid username, password, and host must be set as ROS parameters.

Definition at line 24 of file rovio_move.cpp.

move_controller::~move_controller ( )

Cleans up any resources and connections to the Rovio.

Uses the deconstructor from the rovio_http class to clean up any resources and connections to the Rovio.

Definition at line 60 of file rovio_move.cpp.

Member Function Documentation

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

cmd_vel topic callback function.

Process the twist message and set the appropriate fields. This function is adapted from http://www.ros.org/wiki/rovio_controller. A positive angular-z value corresponds to a clockwise rotation. Movement along linear-y corresponds to moving left/right and movement along linear-x corresponds to moving forwards/backwards.

Parameters: