lizi_node.cpp File Reference

#include "ros/ros.h"
#include <lizi/lizi_raw.h>
#include <lizi/lizi_gps.h>
#include <lizi/lizi_pan_tilt.h>
#include <lizi/lizi_command.h>
#include <lizi/set_odom.h>
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/Range.h"
#include "sensor_msgs/NavSatFix.h"
#include "sensor_msgs/NavSatStatus.h"
#include <sensor_msgs/JointState.h>
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Vector3Stamped.h"
#include "nav_msgs/Odometry.h"
#include "tf/transform_datatypes.h"
#include <tf/transform_broadcaster.h>
#include <math.h>

Include dependency graph for lizi_node.cpp:

Go to the source code of this file.

Functions
void	cmd_velCallback (const geometry_msgs::Twist::ConstPtr &msg)
void	encodersCallback (int32_t left_ticks, int32_t right_ticks)
void	gpsCallback (const lizi::lizi_gps::ConstPtr &msg)
void	imuCallback (float qw, float qx, float qy, float qz)
int	main (int argc, char **argv)
void	pan_tiltCallback (const lizi::lizi_pan_tilt::ConstPtr &msg)
void	rawCallback (const lizi::lizi_raw::ConstPtr &msg)
bool	set_odom (lizi::set_odom::Request &req, lizi::set_odom::Response &res)
void	urfCallback (float left_urf, float rear_urf, float right_urf)
double	wrapToPi (double angle)
Variables
std::string	base_frame_id
std::string	cmd_vel_topic
ros::Publisher	command_pub
double	encoder_cpr
bool	first_enc_read = true
std::string	FL_joint_id
std::string	FR_joint_id
bool	fuse_imu_roll_pitch
bool	fuse_imu_yaw
std::string	gps_frame_id
ros::Publisher	gps_pub
std::string	gps_pub_topic
tf::TransformBroadcaster *	imu_broadcaster
std::string	imu_frame_id
ros::Publisher	imu_pub
std::string	joint_states_topic
sensor_msgs::JointState	jointstate_msg
int	l_encoder = 0
std::string	left_urf_frame_id
sensor_msgs::Range	left_urf_msg
ros::Publisher	left_urf_pub
std::string	lizi_command_topic
std::string	lizi_gps_topic
std::string	lizi_id
std::string	lizi_raw_topic
tf::TransformBroadcaster *	odom_broadcaster
std::string	odom_frame_id
ros::Publisher	odom_pub
std::string	odom_topic
double	pan = 0
std::string	pan_joint_id
ros::Publisher	pan_tilt_pub
std::string	pan_tilt_topic
double	pos_cov = 0.0
int	pre_l_encoder = 0
int	pre_r_encoder = 0
ros::Time	prev_time
geometry_msgs::Quaternion	q_imu
int	r_encoder = 0
std::string	rear_urf_frame_id
sensor_msgs::Range	rear_urf_msg
ros::Publisher	rear_urf_pub
std::string	right_urf_frame_id
sensor_msgs::Range	right_urf_msg
ros::Publisher	right_urf_pub
std::string	RL_joint_id
double	rot_cov = 0.0
std::string	RR_joint_id
std::string	set_odom_srv
double	slip_factor
double	tilt = 0
std::string	tilt_joint_id
double	tt = 0
bool	wd_on = false
ros::Time	wd_time
double	wheel_base_length
double	wheel_diameter
double	xx = 0
double	yy = 0

---

Function Documentation

void cmd_velCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 92 of file lizi_node.cpp.

void encodersCallback	(	int32_t	left_ticks,
		int32_t	right_ticks
	)

Definition at line 122 of file lizi_node.cpp.

void gpsCallback

(

const lizi::lizi_gps::ConstPtr &

msg

)

Definition at line 241 of file lizi_node.cpp.

void imuCallback	(	float	qw,
		float	qx,
		float	qy,
		float	qz
	)

Definition at line 306 of file lizi_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 407 of file lizi_node.cpp.

void pan_tiltCallback

(

const lizi::lizi_pan_tilt::ConstPtr &

msg

)

Definition at line 393 of file lizi_node.cpp.

void rawCallback

(

const lizi::lizi_raw::ConstPtr &

msg

)

Definition at line 363 of file lizi_node.cpp.

bool set_odom	(	lizi::set_odom::Request &	req,
		lizi::set_odom::Response &	res
	)

Definition at line 381 of file lizi_node.cpp.

void urfCallback	(	float	left_urf,
		float	rear_urf,
		float	right_urf
	)

Definition at line 283 of file lizi_node.cpp.

double wrapToPi

(

double

angle

)

Definition at line 111 of file lizi_node.cpp.

---

Variable Documentation

std::string base_frame_id

Definition at line 39 of file lizi_node.cpp.

std::string cmd_vel_topic

Definition at line 41 of file lizi_node.cpp.

ros::Publisher command_pub

Definition at line 28 of file lizi_node.cpp.

double encoder_cpr

Definition at line 68 of file lizi_node.cpp.

bool first_enc_read = true

Definition at line 74 of file lizi_node.cpp.

std::string FL_joint_id

Definition at line 55 of file lizi_node.cpp.

std::string FR_joint_id

Definition at line 54 of file lizi_node.cpp.

bool fuse_imu_roll_pitch

Definition at line 76 of file lizi_node.cpp.

bool fuse_imu_yaw

Definition at line 77 of file lizi_node.cpp.

std::string gps_frame_id

Definition at line 37 of file lizi_node.cpp.

ros::Publisher gps_pub

Definition at line 26 of file lizi_node.cpp.

std::string gps_pub_topic

Definition at line 44 of file lizi_node.cpp.

tf::TransformBroadcaster* imu_broadcaster

Definition at line 63 of file lizi_node.cpp.

std::string imu_frame_id

Definition at line 40 of file lizi_node.cpp.

ros::Publisher imu_pub

Definition at line 27 of file lizi_node.cpp.

std::string joint_states_topic

Definition at line 59 of file lizi_node.cpp.

sensor_msgs::JointState jointstate_msg

Definition at line 61 of file lizi_node.cpp.

int l_encoder = 0

Definition at line 70 of file lizi_node.cpp.

std::string left_urf_frame_id

Definition at line 49 of file lizi_node.cpp.

sensor_msgs::Range left_urf_msg

Definition at line 32 of file lizi_node.cpp.

ros::Publisher left_urf_pub

Definition at line 21 of file lizi_node.cpp.

std::string lizi_command_topic

Definition at line 43 of file lizi_node.cpp.

std::string lizi_gps_topic

Definition at line 48 of file lizi_node.cpp.

std::string lizi_id

Definition at line 36 of file lizi_node.cpp.

std::string lizi_raw_topic

Definition at line 47 of file lizi_node.cpp.

tf::TransformBroadcaster* odom_broadcaster

Definition at line 64 of file lizi_node.cpp.

std::string odom_frame_id

Definition at line 38 of file lizi_node.cpp.

ros::Publisher odom_pub

Definition at line 25 of file lizi_node.cpp.

std::string odom_topic

Definition at line 46 of file lizi_node.cpp.

double pan = 0

Definition at line 87 of file lizi_node.cpp.

std::string pan_joint_id

Definition at line 52 of file lizi_node.cpp.

ros::Publisher pan_tilt_pub

Definition at line 29 of file lizi_node.cpp.

std::string pan_tilt_topic

Definition at line 42 of file lizi_node.cpp.

double pos_cov = 0.0

Definition at line 81 of file lizi_node.cpp.

int pre_l_encoder = 0

Definition at line 70 of file lizi_node.cpp.

int pre_r_encoder = 0

Definition at line 71 of file lizi_node.cpp.

ros::Time prev_time

Definition at line 82 of file lizi_node.cpp.

geometry_msgs::Quaternion q_imu

Definition at line 72 of file lizi_node.cpp.

int r_encoder = 0

Definition at line 71 of file lizi_node.cpp.

std::string rear_urf_frame_id

Definition at line 50 of file lizi_node.cpp.

sensor_msgs::Range rear_urf_msg

Definition at line 33 of file lizi_node.cpp.

ros::Publisher rear_urf_pub

Definition at line 22 of file lizi_node.cpp.

std::string right_urf_frame_id

Definition at line 51 of file lizi_node.cpp.

sensor_msgs::Range right_urf_msg

Definition at line 34 of file lizi_node.cpp.

ros::Publisher right_urf_pub

Definition at line 23 of file lizi_node.cpp.

std::string RL_joint_id

Definition at line 57 of file lizi_node.cpp.

double rot_cov = 0.0

Definition at line 80 of file lizi_node.cpp.

std::string RR_joint_id

Definition at line 56 of file lizi_node.cpp.

std::string set_odom_srv

Definition at line 45 of file lizi_node.cpp.

double slip_factor

Definition at line 78 of file lizi_node.cpp.

double tilt = 0

Definition at line 88 of file lizi_node.cpp.

std::string tilt_joint_id

Definition at line 53 of file lizi_node.cpp.

double tt = 0

Definition at line 73 of file lizi_node.cpp.

bool wd_on = false

Definition at line 84 of file lizi_node.cpp.

ros::Time wd_time

Definition at line 85 of file lizi_node.cpp.

double wheel_base_length

Definition at line 66 of file lizi_node.cpp.

double wheel_diameter

Definition at line 67 of file lizi_node.cpp.

double xx = 0

Definition at line 73 of file lizi_node.cpp.

double yy = 0

Definition at line 73 of file lizi_node.cpp.