Interface for Pioneer mobile robots based on ROS. More...

#include <vpROSRobotPioneer.h>

Inheritance diagram for vpROSRobotPioneer:

[legend]

Public Member Functions
void	disableMotors ()

void	enableMotors ()

void	get_eJe (vpMatrix &eJe)

vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &velocity)

void	init ()
	basic initialization More...

void	init (int argc, char **argv)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)

void	useSonar (bool usage)

	vpROSRobotPioneer ()

	~vpROSRobotPioneer ()
	destructor More...

Public Member Functions inherited from vpROSRobot
void	getDisplacement (const vpRobot::vpControlFrameType, vpColVector &)

void	getDisplacement (const vpRobot::vpControlFrameType, vpColVector &, struct timespec &timestamp)

void	getPosition (const vpRobot::vpControlFrameType, vpColVector &)

void	init ()
	basic initialization More...

void	init (int argc, char **argv)

void	setCmdVelTopic (std::string topic_name)

void	setMasterURI (std::string master_uri)

void	setNodespace (std::string nodespace)

void	setOdomTopic (std::string topic_name)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)

void	stopMotion ()

	vpROSRobot ()
	constructor More...

virtual	~vpROSRobot ()
	destructor More...

Private Member Functions
void	get_fJe (vpMatrix &)

void	setPosition (const vpRobot::vpControlFrameType, const vpColVector &)

	vpROSRobotPioneer (const vpROSRobotPioneer &robot)

Additional Inherited Members
Protected Attributes inherited from vpROSRobot
std::string	_master_uri

std::string	_nodespace

uint32_t	_nsec

uint32_t	_sec

std::string	_topic_cmd

std::string	_topic_odom

ros::Publisher	cmdvel

vpColVector	displacement

bool	isInitialized

ros::NodeHandle *	n

ros::Subscriber	odom

volatile bool	odom_mutex

vpTranslationVector	p

vpColVector	pose_prev

vpQuaternionVector	q

ros::AsyncSpinner *	spinner

Detailed Description

Interface for Pioneer mobile robots based on ROS.

This class provides a position and speed control interface for Pioneer mobile robots. It inherits from the vpROSRobot class. For more information about the model of the robot, see vpPioneer documentation on ViSP website http:://team.inria.fr/visp.

Examples: tutorial-ros-pioneer-visual-servo.cpp, tutorial-ros-pioneer.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 64 of file vpROSRobotPioneer.h.

Constructor & Destructor Documentation

◆ vpROSRobotPioneer() [1/2]

vpROSRobotPioneer::vpROSRobotPioneer ( )

Default constructor that initializes Aria.

Definition at line 51 of file vpROSRobotPioneer.cpp.

◆ ~vpROSRobotPioneer()

vpROSRobotPioneer::~vpROSRobotPioneer ( )

destructor

Definition at line 57 of file vpROSRobotPioneer.cpp.

◆ vpROSRobotPioneer() [2/2]

vpROSRobotPioneer::vpROSRobotPioneer ( const vpROSRobotPioneer & robot )

private

Copy constructor not allowed.

Member Function Documentation

◆ disableMotors()

void vpROSRobotPioneer::disableMotors ( )

Definition at line 145 of file vpROSRobotPioneer.cpp.

◆ enableMotors()

void vpROSRobotPioneer::enableMotors ( )

Definition at line 134 of file vpROSRobotPioneer.cpp.

◆ get_eJe()

void vpROSRobotPioneer::get_eJe ( vpMatrix & eJe )

inline

Get the robot Jacobian expressed at point E, the point located at the middle between the two wheels.

Parameters

eJe	: Robot jacobian such as $(v_x, w_z) = {^e}{\bf J}e \; {\bf v}$ with respectively the translational and rotational control velocities of the mobile robot, $\bf v$ the six dimention velocity skew, and where

See also: get_eJe()

Examples: tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 84 of file vpROSRobotPioneer.h.

◆ get_fJe()

void vpROSRobotPioneer::get_fJe ( vpMatrix & )

inlineprivate

Get the robot Jacobian expressed in the robot reference (or world) frame.

Warning: Not implemented.

Definition at line 120 of file vpROSRobotPioneer.h.

◆ getVelocity() [1/2]

vpColVector vpROSRobotPioneer::getVelocity ( const vpRobot::vpControlFrameType frame )

inline

Definition at line 90 of file vpROSRobotPioneer.h.

◆ getVelocity() [2/2]

void vpROSRobotPioneer::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity
	)

inline

Definition at line 86 of file vpROSRobotPioneer.h.

◆ init() [1/2]

void vpROSRobotPioneer::init ( )

basic initialization

Examples: tutorial-ros-pioneer-visual-servo.cpp, tutorial-ros-pioneer.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 65 of file vpROSRobotPioneer.cpp.

◆ init() [2/2]

void vpROSRobotPioneer::init	(	int	argc,
		char **	argv
	)

Definition at line 72 of file vpROSRobotPioneer.cpp.

◆ setPosition()

void vpROSRobotPioneer::setPosition	(	const vpRobot::vpControlFrameType	,
		const vpColVector &
	)

inlineprivate

Set a displacement (frame has to be specified) in position control.

Warning: Not implemented.

Definition at line 126 of file vpROSRobotPioneer.h.

◆ setVelocity()

void vpROSRobotPioneer::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

Set the velocity (frame has to be specified) that will be applied to the robot.

Parameters

frame	: Control frame. For the moment, only vpRobot::REFERENCE_FRAME to control translational and rotational velocities is implemented.
vel	: A two dimension vector that corresponds to the velocities to apply to the robot. If the frame is vpRobot::REFERENCE_FRAME, first value is the translation velocity in m/s. Second value is the rotational velocity in rad/s.

Note that to secure the usage of the robot, velocities are saturated to the maximum allowed which can be obtained by getMaxTranslationVelocity() and getMaxRotationVelocity(). To change the default values, use setMaxTranslationVelocity() and setMaxRotationVelocity().

Exceptions

vpRobotException::dimensionError	: Velocity vector is not a 2 dimension vector.
vpRobotException::wrongStateError	: If the specified control frame is not supported.

Examples: tutorial-ros-pioneer-visual-servo.cpp, tutorial-ros-pioneer.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 96 of file vpROSRobotPioneer.cpp.

◆ useSonar()

void vpROSRobotPioneer::useSonar ( bool usage )

inline

Enable or disable sonar device usage.

Definition at line 104 of file vpROSRobotPioneer.h.

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

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ vpROSRobotPioneer() [1/2]

◆ ~vpROSRobotPioneer()

◆ vpROSRobotPioneer() [2/2]

Member Function Documentation

◆ disableMotors()

◆ enableMotors()

◆ get_eJe()

◆ get_fJe()

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ setPosition()

◆ setVelocity()

◆ useSonar()