#include <USBLNodelet.hpp>
Public Member Functions | |
| void | onInit () |
| void | run () |
| void | stop () |
| USBLNodelet () | |
| ~USBLNodelet () | |
Protected Member Functions | |
| void | onAttMsg (labust::tritech::TCONMsgPtr tmsg) |
| void | onAutoMode (const std_msgs::Bool::ConstPtr mode) |
| void | onNavMsg (labust::tritech::TCONMsgPtr tmsg) |
| void | onOutgoingMsg (const std_msgs::String::ConstPtr msg) |
| void | onTCONMsg (labust::tritech::TCONMsgPtr tmsg) |
| void | sendUSBLPkg () |
Protected Attributes | |
| std::string | address |
| ros::Publisher | attData |
| TCPDevicePtr | attitude |
| ros::Publisher | attRaw |
| bool | autoMode |
| boost::mutex | dataMux |
| ros::Publisher | dataPub |
| ros::Subscriber | dataSub |
| tf::TransformBroadcaster | frameBroadcast |
| boost::thread | guard |
| ros::Time | lastUSBL |
| std::string | msg_out |
| ros::Publisher | navPub |
| ros::Subscriber | opMode |
| int | ping_timeout |
| boost::mutex | pingLock |
| int | port |
| TCPDevicePtr | usbl |
| bool | usblBusy |
| boost::condition_variable | usblCondition |
| ros::Publisher | usblTimeout |
| boost::thread | worker |
Detailed Description
The class implements the Tritech USBL acquisition nodelet.
Definition at line 58 of file USBLNodelet.hpp.
Constructor & Destructor Documentation
Default constructor.
Definition at line 53 of file USBLNodelet.cpp.
Default destructor.
Definition at line 60 of file USBLNodelet.cpp.
Member Function Documentation
| void USBLNodelet::onAttMsg | ( | labust::tritech::TCONMsgPtr | tmsg | ) | [protected] |
Handles arrived USBL navigation messages.
Definition at line 149 of file USBLNodelet.cpp.
| void USBLNodelet::onAutoMode | ( | const std_msgs::Bool::ConstPtr | mode | ) | [protected] |
Handles outgoing messages requests.
Definition at line 112 of file USBLNodelet.cpp.
| void USBLNodelet::onInit | ( | ) | [virtual] |
| void USBLNodelet::onNavMsg | ( | labust::tritech::TCONMsgPtr | tmsg | ) | [protected] |
Handles arrived USBL navigation messages.
Definition at line 170 of file USBLNodelet.cpp.
| void USBLNodelet::onOutgoingMsg | ( | const std_msgs::String::ConstPtr | msg | ) | [protected] |
Handles outgoing messages requests.
Definition at line 130 of file USBLNodelet.cpp.
| void USBLNodelet::onTCONMsg | ( | labust::tritech::TCONMsgPtr | tmsg | ) | [protected] |
Handles other USBL messages.
Definition at line 137 of file USBLNodelet.cpp.
| void USBLNodelet::run | ( | ) |
The main run method.
- Todo:
- Determine if transform broadcast is neeeded
- Todo:
- add transform settings in initial parameters.
- Todo:
- determine real transform values relative to base_link
Definition at line 272 of file USBLNodelet.cpp.
| void USBLNodelet::sendUSBLPkg | ( | ) | [protected] |
Send one USBL encoded package.
Definition at line 231 of file USBLNodelet.cpp.
| void USBLNodelet::stop | ( | ) |
Cleanly stops the main method but leaves on the USBL connection.
Definition at line 101 of file USBLNodelet.cpp.
Member Data Documentation
std::string labust::tritech::USBLNodelet::address [protected] |
The USBL address.
Definition at line 121 of file USBLNodelet.hpp.
ros::Publisher labust::tritech::USBLNodelet::attData [protected] |
Definition at line 155 of file USBLNodelet.hpp.
TCPDevicePtr labust::tritech::USBLNodelet::attitude [protected] |
Definition at line 117 of file USBLNodelet.hpp.
ros::Publisher labust::tritech::USBLNodelet::attRaw [protected] |
Definition at line 155 of file USBLNodelet.hpp.
bool labust::tritech::USBLNodelet::autoMode [protected] |
Auto interrogate mode.
Definition at line 167 of file USBLNodelet.hpp.
boost::mutex labust::tritech::USBLNodelet::dataMux [protected] |
The data and condition mux.
Definition at line 146 of file USBLNodelet.hpp.
ros::Publisher labust::tritech::USBLNodelet::dataPub [protected] |
Definition at line 155 of file USBLNodelet.hpp.
ros::Subscriber labust::tritech::USBLNodelet::dataSub [protected] |
The outgoing data subscription.
Definition at line 159 of file USBLNodelet.hpp.
USBL frame transformation broadcaster.
Definition at line 163 of file USBLNodelet.hpp.
boost::thread labust::tritech::USBLNodelet::guard [protected] |
Definition at line 150 of file USBLNodelet.hpp.
ros::Time labust::tritech::USBLNodelet::lastUSBL [protected] |
Last message from USBL.
Definition at line 129 of file USBLNodelet.hpp.
std::string labust::tritech::USBLNodelet::msg_out [protected] |
The outgoing message.
Definition at line 133 of file USBLNodelet.hpp.
ros::Publisher labust::tritech::USBLNodelet::navPub [protected] |
The navigation and incoming data publisher.
Definition at line 155 of file USBLNodelet.hpp.
ros::Subscriber labust::tritech::USBLNodelet::opMode [protected] |
Definition at line 159 of file USBLNodelet.hpp.
int labust::tritech::USBLNodelet::ping_timeout [protected] |
Ping timeout.
Definition at line 112 of file USBLNodelet.hpp.
boost::mutex labust::tritech::USBLNodelet::pingLock [protected] |
Definition at line 146 of file USBLNodelet.hpp.
int labust::tritech::USBLNodelet::port [protected] |
The USBL port.
Definition at line 125 of file USBLNodelet.hpp.
TCPDevicePtr labust::tritech::USBLNodelet::usbl [protected] |
The USBL device.
Definition at line 117 of file USBLNodelet.hpp.
bool labust::tritech::USBLNodelet::usblBusy [protected] |
The USBL status.
Definition at line 137 of file USBLNodelet.hpp.
boost::condition_variable labust::tritech::USBLNodelet::usblCondition [protected] |
The lock condition variable.
Definition at line 141 of file USBLNodelet.hpp.
Definition at line 155 of file USBLNodelet.hpp.
boost::thread labust::tritech::USBLNodelet::worker [protected] |
The worker thread.
Definition at line 150 of file USBLNodelet.hpp.
The documentation for this class was generated from the following files: