labust::tritech::USBLNodelet Class Reference

#include <USBLNodelet.hpp>

Inheritance diagram for labust::tritech::USBLNodelet:

List of all members.

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

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Detailed Description

The class implements the Tritech USBL acquisition nodelet.

Definition at line 58 of file USBLNodelet.hpp.

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Constructor & Destructor Documentation

USBLNodelet::USBLNodelet

(

)

Default constructor.

Definition at line 53 of file USBLNodelet.cpp.

USBLNodelet::~USBLNodelet

(

)

Default destructor.

Definition at line 60 of file USBLNodelet.cpp.

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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]

Node initialization.

Implements nodelet::Nodelet.

Definition at line 66 of file USBLNodelet.cpp.

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.

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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.

tf::TransformBroadcaster labust::tritech::USBLNodelet::frameBroadcast [protected]

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.

ros::Publisher labust::tritech::USBLNodelet::usblTimeout [protected]

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.

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

• USBLNodelet.hpp
• USBLNodelet.cpp