VisDaemon Class Reference

#include <visualization_daemon.h>

Inheritance diagram for VisDaemon:

Public Member Functions
void	AGVPositionCallback (const vda5050_msgs::AGVPosition::ConstPtr &msg)
void	AGVPositionDeviationRangeCallback (const std_msgs::Float64::ConstPtr &msg)
void	AGVPositionInitializedCallback (const std_msgs::Bool::ConstPtr &msg)
void	AGVPositionLocalizationScoreCallback (const std_msgs::Float64::ConstPtr &msg)
void	AGVPositionMapDescriptionCallback (const std_msgs::String::ConstPtr &msg)
void	AGVPositionMapIdCallback (const std_msgs::String::ConstPtr &msg)
double	CalculateAgvOrientation (const nav_msgs::Odometry::ConstPtr &msg)
bool	CheckPassedTime ()
void	LinkPublishTopics (ros::NodeHandle *nh)
void	LinkSubscriptionTopics (ros::NodeHandle *nh)
void	PublishVisualization ()
void	ROSAGVPositionCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	ROSVelocityCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	UpdateVisualization ()
	VisDaemon ()
Public Member Functions inherited from Daemon
bool	CheckPassedTime ()
bool	CheckRange (double lowerRange, double upperRange, double value, std::string msg_name)
bool	CheckTopic (std::string str1, std::string str2)
bool	CompareStrings (std::string str1, std::string str2)
std::string	CreateTimestamp ()
void	createTopicStructurePrefix ()
	Daemon ()
	Daemon (ros::NodeHandle *nh, std::string daemonName)
vda5050_msgs::Header	GetHeader ()
std::vector< std::string >	GetMsgList (std::map< std::string, std::string > topicList)
std::string	GetParameter (std::string param)
std::string	GetTopic (std::string hierarchical_topic)
std::map< std::string, std::string >	GetTopicPublisherList ()
std::string	getTopicStructurePrefix ()
std::map< std::string, std::string >	GetTopicSubscriberList ()
void	InitHeaderInfo ()
void	LinkErrorTopics (ros::NodeHandle *nh)
void	PublishState ()
std::map< std::string, std::string >	ReadTopicParams (ros::NodeHandle *nh, std::string paramTopicName)
void	UpdateHeader ()
void	UpdateState ()

Private Attributes
ros::Time	lastUpdateTimestamp
ros::Publisher	pub
ros::Duration	updateInterval
vda5050_msgs::Visualization	visMessage

Additional Inherited Members
Protected Attributes inherited from Daemon
ros::Publisher	errorPublisher
std::map< std::string, ros::Publisher >	messagePublisher
ros::NodeHandle	nh
std::map< std::string, ros::Subscriber >	subscribers

Detailed Description

Daemon for processing VDA 5050 visualziation messages. This daemon gathers relevant information from different sources of the robot's communication system, i. e. different ROS topics. The collected information is then compiled into the form which the VDA 5050 expects. State messages are repeatedly sent to the MQTT bridge so that they can be transmitted to the fleet control system with the desired frequency.

Definition at line 46 of file visualization_daemon.h.

Constructor & Destructor Documentation

VisDaemon()

VisDaemon::VisDaemon

(

)

Standard Constructor.

Definition at line 18 of file visualization_daemon.cpp.

Member Function Documentation

AGVPositionCallback()

void VisDaemon::AGVPositionCallback

(

const vda5050_msgs::AGVPosition::ConstPtr &

msg

)

Callback function for incoming position messages.

Parameters

msg	Incoming message.

Definition at line 133 of file visualization_daemon.cpp.

AGVPositionDeviationRangeCallback()

void VisDaemon::AGVPositionDeviationRangeCallback

(

const std_msgs::Float64::ConstPtr &

msg

)

Callback function for incoming information about the deviation range of the AGV's position.

Parameters

msg	Incoming message.

Definition at line 155 of file visualization_daemon.cpp.

AGVPositionInitializedCallback()

void VisDaemon::AGVPositionInitializedCallback

(

const std_msgs::Bool::ConstPtr &

msg

)

Callback function for the incoming notification when the AGV position was initialized.

Parameters

msg	Incoming message.

Definition at line 144 of file visualization_daemon.cpp.

AGVPositionLocalizationScoreCallback()

void VisDaemon::AGVPositionLocalizationScoreCallback

(

const std_msgs::Float64::ConstPtr &

msg

)

Callback function for incoming information about the localization score of the AGV.

Parameters

msg	Incoming message.

Definition at line 148 of file visualization_daemon.cpp.

AGVPositionMapDescriptionCallback()

void VisDaemon::AGVPositionMapDescriptionCallback

(

const std_msgs::String::ConstPtr &

msg

)

Callback function for incoming map description strings of the AGV's position.

Parameters

msg	Incoming message.

Definition at line 163 of file visualization_daemon.cpp.

AGVPositionMapIdCallback()

void VisDaemon::AGVPositionMapIdCallback

(

const std_msgs::String::ConstPtr &

msg

)

Callback function for incoming MapIDs of the AGV's position.

Parameters

msg	Incoming message.

Definition at line 159 of file visualization_daemon.cpp.

CalculateAgvOrientation()

double VisDaemon::CalculateAgvOrientation

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Calculate the AGV's rotation from odometry data.

Parameters

msg	Odometry message that should be used for calculation.

Definition at line 91 of file visualization_daemon.cpp.

CheckPassedTime()

bool VisDaemon::CheckPassedTime

(

)

Calculates the passed time between last update interval and now.

Returns

Returns true if passed time since last publish is greater than 30 seconds, else returns false.

Definition at line 27 of file visualization_daemon.cpp.

LinkPublishTopics()

void VisDaemon::LinkPublishTopics

(

ros::NodeHandle *

nh

)

Creates the publisher for the required topics. The list of topics is extracted from the config file.

Parameters

nh	Pointer to the node handler.

Definition at line 50 of file visualization_daemon.cpp.

LinkSubscriptionTopics()

void VisDaemon::LinkSubscriptionTopics

(

ros::NodeHandle *

nh

)

Creates the subscribers for the required topics. The list of topics is extracted from the config file.

Parameters

nh	Pointer to node handler.

Definition at line 67 of file visualization_daemon.cpp.

PublishVisualization()

void VisDaemon::PublishVisualization

(

)

Fetches the header message and publishes the state message. Also the timestamp since last publishing is updated.

Definition at line 33 of file visualization_daemon.cpp.

ROSAGVPositionCallback()

void VisDaemon::ROSAGVPositionCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Callback function for incoming ROSAGVPosition messages.

Parameters

msg	Incoming message.

Definition at line 105 of file visualization_daemon.cpp.

ROSVelocityCallback()

void VisDaemon::ROSVelocityCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Callback function for incoming ROS velocity messages.

Parameters

msg	Incoming message.

Definition at line 121 of file visualization_daemon.cpp.

UpdateVisualization()

void VisDaemon::UpdateVisualization

(

)

Main loop of the vis daemon. Does all the processing between receiving and publishing messages.

Definition at line 43 of file visualization_daemon.cpp.

Member Data Documentation

lastUpdateTimestamp

ros::Time VisDaemon::lastUpdateTimestamp

private

Timestamp of the last sent message.

Definition at line 59 of file visualization_daemon.h.

pub

ros::Publisher VisDaemon::pub

private

ROS Publisher for sending out visualization messages.

Definition at line 53 of file visualization_daemon.h.

updateInterval

ros::Duration VisDaemon::updateInterval

private

Time interval for sending out visualization messages.

Definition at line 56 of file visualization_daemon.h.

visMessage

vda5050_msgs::Visualization VisDaemon::visMessage

private

ROS Message object for repeated use (sending visualization messages to the fleet controller.

Definition at line 49 of file visualization_daemon.h.

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

• visualization_daemon.h
• visualization_daemon.cpp