youBot::YouBotBaseConfiguration Class Reference

#include <YouBotConfiguration.h>

List of all members.

Public Member Functions
	YouBotBaseConfiguration ()
	Standard constructor.
virtual	~YouBotBaseConfiguration ()
	Standard destructor.
Public Attributes
ros::Subscriber	baseCommandSubscriber
	Receives Twist messages for the base.
std::string	baseID
	"Name" of the base. Typically derived from name of youBot configuration file.
ros::Publisher	baseJointStatePublisher
	Publishes JointState messages with angles/velocities for the wheels.
ros::Publisher	baseOdometryPublisher
	Publishes Odometry messages.
tf::TransformBroadcaster	odometryBroadcaster
	Publishes tf frames as odometry.
ros::ServiceServer	switchOffMotorsService
	Service to switch the motor off by setting the PWM value to zero.
ros::ServiceServer	switchONMotorsService
	Service to switch the motor ON by setting the velocity to zero.
std::vector< std::string >	wheelNames
	Joint names for the wheels.
youbot::YouBotBase *	youBotBase
	Handle to the base.

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Detailed Description

Definition at line 60 of file YouBotConfiguration.h.

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Constructor & Destructor Documentation

youBot::YouBotBaseConfiguration::YouBotBaseConfiguration

(

)

Standard constructor.

Definition at line 45 of file YouBotConfiguration.cpp.

youBot::YouBotBaseConfiguration::~YouBotBaseConfiguration

(

)

[virtual]

Standard destructor.

Definition at line 71 of file YouBotConfiguration.cpp.

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Member Data Documentation

ros::Subscriber youBot::YouBotBaseConfiguration::baseCommandSubscriber

Receives Twist messages for the base.

Definition at line 80 of file YouBotConfiguration.h.

std::string youBot::YouBotBaseConfiguration::baseID

"Name" of the base. Typically derived from name of youBot configuration file.

Definition at line 74 of file YouBotConfiguration.h.

ros::Publisher youBot::YouBotBaseConfiguration::baseJointStatePublisher

Publishes JointState messages with angles/velocities for the wheels.

Definition at line 86 of file YouBotConfiguration.h.

ros::Publisher youBot::YouBotBaseConfiguration::baseOdometryPublisher

Publishes Odometry messages.

Definition at line 83 of file YouBotConfiguration.h.

tf::TransformBroadcaster youBot::YouBotBaseConfiguration::odometryBroadcaster

Publishes tf frames as odometry.

Definition at line 95 of file YouBotConfiguration.h.

ros::ServiceServer youBot::YouBotBaseConfiguration::switchOffMotorsService

Service to switch the motor off by setting the PWM value to zero.

Definition at line 89 of file YouBotConfiguration.h.

ros::ServiceServer youBot::YouBotBaseConfiguration::switchONMotorsService

Service to switch the motor ON by setting the velocity to zero.

Definition at line 92 of file YouBotConfiguration.h.

std::vector<std::string> youBot::YouBotBaseConfiguration::wheelNames

Joint names for the wheels.

Definition at line 77 of file YouBotConfiguration.h.

youbot::YouBotBase* youBot::YouBotBaseConfiguration::youBotBase

Handle to the base.

Definition at line 71 of file YouBotConfiguration.h.

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The documentation for this class was generated from the following files:

• YouBotConfiguration.h
• YouBotConfiguration.cpp