#include <p2os.h>

Public Member Functions
void	check_and_set_gripper_state ()
void	check_and_set_motor_state ()
void	check_and_set_vel ()
void	check_stall (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	check_voltage (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	cmdmotor_state (const p2os_msgs::MotorStateConstPtr &)
void	cmdvel_cb (const geometry_msgs::TwistConstPtr &)
unsigned char	DegreesToTicks (int joint, double degrees)
	convert degrees to ticks
double	get_pulse ()
void	gripperCallback (const p2os_msgs::GripperStateConstPtr &msg)
	P2OSNode (ros::NodeHandle n)
	P2OS robot driver node.
unsigned char	RadiansToTicks (int joint, double rads)
	Convert radians to ticks.
double	RadsPerSectoSecsPerTick (int joint, double speed)
	Convert radians per second to radians per encoder tick.
void	ResetRawPositions ()
double	SecsPerTicktoRadsPerSec (int joint, double secs)
	Convert Seconds per encoder tick to radians per second.
void	SendPulse (void)
int	SendReceive (P2OSPacket *pkt, bool publish_data=true)
int	Setup ()
	Setup the robot for use. Communicates with the robot directly.
int	Shutdown ()
	Prepare for shutdown.
void	StandardSIPPutData (ros::Time ts)
double	TicksToDegrees (int joint, unsigned char ticks)
	Convert ticks to degrees.
double	TicksToRadians (int joint, unsigned char ticks)
	Convert ticks to radians.
void	ToggleMotorPower (unsigned char val)
	Toggle motors on/off.
void	ToggleSonarPower (unsigned char val)
void	updateDiagnostics ()
virtual	~P2OSNode ()
Public Attributes
p2os_msgs::MotorState	cmdmotor_state_
	Motor state publisher.
geometry_msgs::Twist	cmdvel_
	Command Velocity subscriber.
p2os_msgs::GripperState	gripper_state_
	Gripper state publisher.
ros_p2os_data_t	p2os_data
	sensor data container
Protected Attributes
ros::Publisher	aio_pub_
std::string	base_link_frame_id
diagnostic_updater::DiagnosedPublisher < p2os_msgs::BatteryState >	batt_pub_
int	bumpstall
	Stall I hit a wall?
ros::Subscriber	cmdmstate_sub_
ros::Subscriber	cmdvel_sub_
double	desired_freq
diagnostic_updater::Updater	diagnostic_
ros::Publisher	dio_pub_
int	direct_wheel_vel_control
	Control wheel velocities individually?
ros::Publisher	grip_state_pub_
bool	gripper_dirty_
ros::Subscriber	gripper_sub_
int	joystick
	Use Joystick?
double	lastPulseTime
	Last time the node received or sent a pulse.
bool	motor_dirty
short	motor_max_rot_accel
	Maximum rotational acceleration in radians per second per second.
short	motor_max_rot_decel
	Minimum rotational acceleration in Meters per second per second.
int	motor_max_speed
	Maximum motor speed in Meters per second.
short	motor_max_trans_accel
	Maximum translational acceleration in Meters per second per second.
short	motor_max_trans_decel
	Minimum translational acceleration in Meters per second per second.
int	motor_max_turnspeed
	Maximum turn speed in radians per second.
ros::Publisher	mstate_pub_
ros::NodeHandle	n
	Node Handler used for publication of data.
ros::NodeHandle	nh_private
	Node Handler used for private data publication.
tf::TransformBroadcaster	odom_broadcaster
std::string	odom_frame_id
int	param_idx
ros::Publisher	pose_pub_
int	psos_fd
std::string	psos_serial_port
std::string	psos_tcp_host
int	psos_tcp_port
bool	psos_use_tcp
P2OSPtz	ptz_
ros::Subscriber	ptz_cmd_sub_
ros::Publisher	ptz_state_pub_
double	pulse
	Pulse time.
int	radio_modemp
int	rot_ki
int	rot_kp
int	rot_kv
SIP *	sippacket
ros::Publisher	sonar_pub_
int	trans_ki
int	trans_kp
int	trans_kv
bool	use_sonar_
	Use the sonar array?
bool	vel_dirty
ros::Time	veltime

Detailed Description

Definition at line 86 of file p2os.h.

Constructor & Destructor Documentation

P2OSNode::P2OSNode ( ros::NodeHandle n )

P2OS robot driver node.

This class contains, essentially, the main means of communication between the robot and ROS.

Constructor for P2OS node.

This brings up the P2OS system for ROS operation.

Definition at line 30 of file p2os.cc.

P2OSNode::~P2OSNode ( ) [virtual]

Definition at line 130 of file p2os.cc.

Member Function Documentation

void P2OSNode::check_and_set_gripper_state ( )

Definition at line 159 of file p2os.cc.

void P2OSNode::check_and_set_motor_state ( )

Definition at line 140 of file p2os.cc.

void P2OSNode::check_and_set_vel ( )

Definition at line 210 of file p2os.cc.

void P2OSNode::check_stall ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 808 of file p2os.cc.

void P2OSNode::check_voltage ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 791 of file p2os.cc.

void P2OSNode::cmdmotor_state ( const p2os_msgs::MotorStateConstPtr & msg )

Definition at line 134 of file p2os.cc.

void P2OSNode::cmdvel_cb ( const geometry_msgs::TwistConstPtr & msg )

Definition at line 187 of file p2os.cc.

unsigned char P2OSNode::DegreesToTicks	(	int	joint,
		double	degrees
	)		`[inline]`

convert degrees to ticks

Definition at line 895 of file p2os.cc.

double P2OSNode::get_pulse ( ) [inline]

Definition at line 129 of file p2os.h.

void P2OSNode::gripperCallback ( const p2os_msgs::GripperStateConstPtr & msg )

Definition at line 267 of file p2os.cc.

unsigned char P2OSNode::RadiansToTicks	(	int	joint,
		double	rads
	)		`[inline]`

Convert radians to ticks.

Definition at line 924 of file p2os.cc.

double P2OSNode::RadsPerSectoSecsPerTick	(	int	joint,
		double	speed
	)		`[inline]`

Convert radians per second to radians per encoder tick.

Definition at line 931 of file p2os.cc.

void P2OSNode::ResetRawPositions ( )

Definition at line 820 of file p2os.cc.

double P2OSNode::SecsPerTicktoRadsPerSec	(	int	joint,
		double	secs
	)		`[inline]`

Convert Seconds per encoder tick to radians per second.

Definition at line 946 of file p2os.cc.

void P2OSNode::SendPulse ( void )

Definition at line 956 of file p2os.cc.

int P2OSNode::SendReceive	(	P2OSPacket *	pkt,
		bool	publish_data = `true`
	)

Definition at line 726 of file p2os.cc.

int P2OSNode::Setup ( )

Setup the robot for use. Communicates with the robot directly.

Definition at line 273 of file p2os.cc.

int P2OSNode::Shutdown ( )

Prepare for shutdown.

Definition at line 659 of file p2os.cc.

void P2OSNode::StandardSIPPutData ( ros::Time ts )

Definition at line 695 of file p2os.cc.

double P2OSNode::TicksToDegrees	(	int	joint,
		unsigned char	ticks
	)		`[inline]`

Convert ticks to degrees.

Definition at line 878 of file p2os.cc.

double P2OSNode::TicksToRadians	(	int	joint,
		unsigned char	ticks
	)		`[inline]`

Convert ticks to radians.

Definition at line 917 of file p2os.cc.

void P2OSNode::ToggleMotorPower ( unsigned char val )

Toggle motors on/off.

Turn on/off the robots in accordance to val.

Parameters:

val	Determines what state the motor should be. 1 = enabled, 0 = disabled.

Definition at line 858 of file p2os.cc.

void P2OSNode::ToggleSonarPower ( unsigned char val )

Definition at line 840 of file p2os.cc.

void P2OSNode::updateDiagnostics ( )

Definition at line 786 of file p2os.cc.

Member Data Documentation

ros::Publisher P2OSNode::aio_pub_ [protected]

Definition at line 144 of file p2os.h.

std::string P2OSNode::base_link_frame_id [protected]

Definition at line 156 of file p2os.h.

diagnostic_updater::DiagnosedPublisher<p2os_msgs::BatteryState> P2OSNode::batt_pub_ [protected]

Definition at line 143 of file p2os.h.

int P2OSNode::bumpstall [protected]

Stall I hit a wall?

Definition at line 167 of file p2os.h.

p2os_msgs::MotorState P2OSNode::cmdmotor_state_

Motor state publisher.

Definition at line 200 of file p2os.h.

ros::Subscriber P2OSNode::cmdmstate_sub_ [protected]

Definition at line 147 of file p2os.h.

geometry_msgs::Twist P2OSNode::cmdvel_

Command Velocity subscriber.

Definition at line 198 of file p2os.h.

ros::Subscriber P2OSNode::cmdvel_sub_ [protected]

Definition at line 147 of file p2os.h.

double P2OSNode::desired_freq [protected]

Definition at line 188 of file p2os.h.

diagnostic_updater::Updater P2OSNode::diagnostic_ [protected]

Definition at line 141 of file p2os.h.

ros::Publisher P2OSNode::dio_pub_ [protected]

Definition at line 144 of file p2os.h.

int P2OSNode::direct_wheel_vel_control [protected]

Control wheel velocities individually?

Definition at line 171 of file p2os.h.

ros::Publisher P2OSNode::grip_state_pub_ [protected]

Definition at line 144 of file p2os.h.

bool P2OSNode::gripper_dirty_ [protected]

Definition at line 161 of file p2os.h.

p2os_msgs::GripperState P2OSNode::gripper_state_

Gripper state publisher.

Definition at line 202 of file p2os.h.

ros::Subscriber P2OSNode::gripper_sub_ [protected]

Definition at line 147 of file p2os.h.

int P2OSNode::joystick [protected]

Use Joystick?

Definition at line 169 of file p2os.h.

double P2OSNode::lastPulseTime [protected]

Last time the node received or sent a pulse.

Definition at line 190 of file p2os.h.

bool P2OSNode::motor_dirty [protected]

Definition at line 160 of file p2os.h.

short P2OSNode::motor_max_rot_accel [protected]

Maximum rotational acceleration in radians per second per second.

Definition at line 183 of file p2os.h.

short P2OSNode::motor_max_rot_decel [protected]

Minimum rotational acceleration in Meters per second per second.

Definition at line 185 of file p2os.h.

int P2OSNode::motor_max_speed [protected]

Maximum motor speed in Meters per second.

Definition at line 175 of file p2os.h.

short P2OSNode::motor_max_trans_accel [protected]

Maximum translational acceleration in Meters per second per second.

Definition at line 179 of file p2os.h.

short P2OSNode::motor_max_trans_decel [protected]

Minimum translational acceleration in Meters per second per second.

Definition at line 181 of file p2os.h.

int P2OSNode::motor_max_turnspeed [protected]

Maximum turn speed in radians per second.

Definition at line 177 of file p2os.h.

ros::Publisher P2OSNode::mstate_pub_ [protected]

Definition at line 144 of file p2os.h.

ros::NodeHandle P2OSNode::n [protected]

Node Handler used for publication of data.

Definition at line 137 of file p2os.h.

ros::NodeHandle P2OSNode::nh_private [protected]

Node Handler used for private data publication.

Definition at line 139 of file p2os.h.

tf::TransformBroadcaster P2OSNode::odom_broadcaster [protected]

Definition at line 149 of file p2os.h.

std::string P2OSNode::odom_frame_id [protected]

Definition at line 155 of file p2os.h.

ros_p2os_data_t P2OSNode::p2os_data

sensor data container

Definition at line 204 of file p2os.h.

int P2OSNode::param_idx [protected]

Definition at line 162 of file p2os.h.

ros::Publisher P2OSNode::pose_pub_ [protected]

Definition at line 146 of file p2os.h.

int P2OSNode::psos_fd [protected]

Definition at line 157 of file p2os.h.

std::string P2OSNode::psos_serial_port [protected]

Definition at line 153 of file p2os.h.

std::string P2OSNode::psos_tcp_host [protected]

Definition at line 154 of file p2os.h.

int P2OSNode::psos_tcp_port [protected]

Definition at line 159 of file p2os.h.

bool P2OSNode::psos_use_tcp [protected]

Definition at line 158 of file p2os.h.

P2OSPtz P2OSNode::ptz_ [protected]

Definition at line 194 of file p2os.h.

ros::Subscriber P2OSNode::ptz_cmd_sub_ [protected]

Definition at line 147 of file p2os.h.

ros::Publisher P2OSNode::ptz_state_pub_ [protected]

Definition at line 144 of file p2os.h.

double P2OSNode::pulse [protected]

Pulse time.

Definition at line 187 of file p2os.h.

int P2OSNode::radio_modemp [protected]

Definition at line 172 of file p2os.h.

int P2OSNode::rot_ki [protected]