ax2550_node.cc File Reference

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "nav_msgs/Odometry.h"
#include "ax2550/StampedEncoders.h"
#include "tf/tf.h"
#include <tf/transform_broadcaster.h>
#include <string>
#include <cmath>
#include "ax2550/ax2550.h"

Include dependency graph for ax2550_node.cc:

Go to the source code of this file.

Functions
void	cmd_velCallback (const geometry_msgs::Twist::ConstPtr &msg)
void	controlLoop ()
void	debugMsgCallback (const std::string &msg)
void	errorMsgCallback (const std::string &msg)
void	infoMsgCallback (const std::string &msg)
int	main (int argc, char **argv)
void	queryEncoders ()
void	warnMsgCallback (const std::string &msg)
double	wrapToPi (double angle)
Variables
static double	A_MAX = 20.0
static double	B_MAX = 20.0
double	encoder_poll_rate
ros::Publisher	encoder_pub
static double	ENCODER_RESOLUTION = 250*4
size_t	error_count
AX2550 *	mc
tf::TransformBroadcaster *	odom_broadcaster
std::string	odom_frame_id
ros::Publisher	odom_pub
double	pos_cov = 0.0
ros::Time	prev_time
double	prev_w = 0
double	prev_x = 0
double	prev_y = 0
double	rot_cov = 0.0
double	target_direction = 0.0
double	target_speed = 0.0
double	wheel_base_length = 0.0
double	wheel_circumference = 0.0
double	wheel_diameter = 0.0

---

Function Documentation

void cmd_velCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 52 of file ax2550_node.cc.

void controlLoop

(

)

Definition at line 83 of file ax2550_node.cc.

void debugMsgCallback

(

const std::string &

msg

)

Definition at line 110 of file ax2550_node.cc.

void errorMsgCallback

(

const std::string &

msg

)

Definition at line 98 of file ax2550_node.cc.

void infoMsgCallback

(

const std::string &

msg

)

Definition at line 106 of file ax2550_node.cc.

int main	(	int	argc,
		char **	argv
	)

Definition at line 221 of file ax2550_node.cc.

void queryEncoders

(

)

Definition at line 114 of file ax2550_node.cc.

void warnMsgCallback

(

const std::string &

msg

)

Definition at line 102 of file ax2550_node.cc.

double wrapToPi

(

double

angle

)

Definition at line 41 of file ax2550_node.cc.

---

Variable Documentation

double A_MAX = 20.0 [static]

Definition at line 34 of file ax2550_node.cc.

double B_MAX = 20.0 [static]

Definition at line 35 of file ax2550_node.cc.

double encoder_poll_rate

Definition at line 25 of file ax2550_node.cc.

ros::Publisher encoder_pub

Definition at line 18 of file ax2550_node.cc.

double ENCODER_RESOLUTION = 250*4 [static]

Definition at line 21 of file ax2550_node.cc.

size_t error_count

Definition at line 27 of file ax2550_node.cc.

AX2550* mc

Definition at line 16 of file ax2550_node.cc.

tf::TransformBroadcaster* odom_broadcaster

Definition at line 19 of file ax2550_node.cc.

std::string odom_frame_id

Definition at line 26 of file ax2550_node.cc.

ros::Publisher odom_pub

Definition at line 17 of file ax2550_node.cc.

double pos_cov = 0.0

Definition at line 32 of file ax2550_node.cc.

ros::Time prev_time

Definition at line 39 of file ax2550_node.cc.

double prev_w = 0

Definition at line 38 of file ax2550_node.cc.

double prev_x = 0

Definition at line 38 of file ax2550_node.cc.

double prev_y = 0

Definition at line 38 of file ax2550_node.cc.

double rot_cov = 0.0

Definition at line 31 of file ax2550_node.cc.

double target_direction = 0.0

Definition at line 29 of file ax2550_node.cc.

double target_speed = 0.0

Definition at line 28 of file ax2550_node.cc.

double wheel_base_length = 0.0

Definition at line 23 of file ax2550_node.cc.

double wheel_circumference = 0.0

Definition at line 22 of file ax2550_node.cc.

double wheel_diameter = 0.0

Definition at line 24 of file ax2550_node.cc.