#include <seed_r7_mover_controller.h>
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MoverController (const ros::NodeHandle &_nh, robot_hardware::RobotHW *_in_hw) | |
~MoverController () | |
destructor More... | |
Private Member Functions | |
void | calculateOdometry (const ros::TimerEvent &_event) |
odometry publisher More... | |
void | cmdVelCallback (const geometry_msgs::TwistConstPtr &_cmd_vel) |
control with cmd_vel More... | |
bool | ledControlCallback (seed_r7_ros_controller::LedControl::Request &_req, seed_r7_ros_controller::LedControl::Response &_res) |
void | moveBaseStatusCallBack (const actionlib_msgs::GoalStatusArray::ConstPtr &status) |
void | safetyCheckCallback (const ros::TimerEvent &_event) |
safety stopper when msg is not reached for more than safety_duration_ [s] More... | |
bool | setInitialPoseCallback (seed_r7_ros_controller::SetInitialPose::Request &_req, seed_r7_ros_controller::SetInitialPose::Response &_res) |
void | velocityToWheel (double _linear_x, double _linear_y, double _angular_z, std::vector< int16_t > &_wheel_vel) |
Private Attributes | |
std::vector< int > | aero_index_ |
boost::mutex | base_mtx_ |
ros::Subscriber | cmd_vel_sub_ |
ros::Time | current_time_ |
robot_hardware::RobotHW * | hw_ |
ros::Publisher | initialpose_pub_ |
float | k1_ |
float | k2_ |
ros::Time | last_time_ |
ros::ServiceServer | led_control_server_ |
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > * | move_base_action_ |
ros::NodeHandle | nh_ |
int | num_of_wheels_ |
tf::TransformBroadcaster | odom_broadcaster_ |
ros::Publisher | odom_pub_ |
double | odom_rate_ |
ros::Timer | odom_timer_ |
double | ros_rate_ |
ros::Timer | safe_timer_ |
double | safety_duration_ |
double | safety_rate_ |
bool | servo_on_ |
ros::ServiceServer | set_initialpose_server_ |
double | th_ |
ros::Time | time_stamp_ |
double | vth_ |
double | vx_ |
double | vy_ |
std::vector< std::string > | wheel_names_ |
double | x_ |
double | y_ |
Definition at line 40 of file seed_r7_mover_controller.h.
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Definition at line 5 of file seed_r7_mover_controller.cpp.
robot_hardware::MoverController::~MoverController | ( | ) |
destructor
Definition at line 59 of file seed_r7_mover_controller.cpp.
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odometry publisher
Definition at line 152 of file seed_r7_mover_controller.cpp.
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control with cmd_vel
Definition at line 65 of file seed_r7_mover_controller.cpp.
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Definition at line 261 of file seed_r7_mover_controller.cpp.
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safety stopper when msg is not reached for more than safety_duration_
[s]
Definition at line 133 of file seed_r7_mover_controller.cpp.
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Definition at line 243 of file seed_r7_mover_controller.cpp.
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Definition at line 208 of file seed_r7_mover_controller.cpp.
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Definition at line 77 of file seed_r7_mover_controller.h.
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Definition at line 79 of file seed_r7_mover_controller.h.
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Definition at line 59 of file seed_r7_mover_controller.h.
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Definition at line 57 of file seed_r7_mover_controller.h.
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Definition at line 80 of file seed_r7_mover_controller.h.
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Definition at line 56 of file seed_r7_mover_controller.h.
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Definition at line 73 of file seed_r7_mover_controller.h.
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Definition at line 73 of file seed_r7_mover_controller.h.
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Definition at line 57 of file seed_r7_mover_controller.h.
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Definition at line 62 of file seed_r7_mover_controller.h.
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Definition at line 83 of file seed_r7_mover_controller.h.
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Definition at line 55 of file seed_r7_mover_controller.h.
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Definition at line 74 of file seed_r7_mover_controller.h.
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Definition at line 60 of file seed_r7_mover_controller.h.
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Definition at line 56 of file seed_r7_mover_controller.h.
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Definition at line 72 of file seed_r7_mover_controller.h.
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Definition at line 58 of file seed_r7_mover_controller.h.
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Definition at line 72 of file seed_r7_mover_controller.h.
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Definition at line 58 of file seed_r7_mover_controller.h.
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Definition at line 72 of file seed_r7_mover_controller.h.
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Definition at line 72 of file seed_r7_mover_controller.h.
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Definition at line 75 of file seed_r7_mover_controller.h.
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Definition at line 63 of file seed_r7_mover_controller.h.
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Definition at line 71 of file seed_r7_mover_controller.h.
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Definition at line 57 of file seed_r7_mover_controller.h.
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Definition at line 71 of file seed_r7_mover_controller.h.
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Definition at line 71 of file seed_r7_mover_controller.h.
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Definition at line 71 of file seed_r7_mover_controller.h.
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Definition at line 76 of file seed_r7_mover_controller.h.
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Definition at line 71 of file seed_r7_mover_controller.h.
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Definition at line 71 of file seed_r7_mover_controller.h.