This namespace groups all typedefs, utility functions and parameter getter used in the simulation_odom node. More...

Typedefs
typedef sensor_msgs::Imu	imu_msg
	shortcut for a pointer to a IMU message More...

typedef std_msgs::Int16	int16_msg
	shortcut for a pointer to a int16 message More...

typedef nav_msgs::Odometry	odom_msg
	shortcut for a pointer to a Odometry message More...

typedef geometry_msgs::Twist	twist_msg
	shortcut for a pointer to a twist message More...

Functions
void	fetchImuTopic (ros::NodeHandle *nh, std::string &imuTopic)
	Get imu topic launch parameter. More...

void	fetchInitialX (ros::NodeHandle *nh, double &initialX)
	Get the initial x-coordinate of the robot. More...

void	fetchInitialY (ros::NodeHandle *nh, double &initialY)
	Get the initial y-coordinate of the robot. More...

void	fetchInitialYaw (ros::NodeHandle *nh, double &initialYaw)
	Get the initial yaw of the robot. (in radians). More...

void	fetchLoopRate (ros::NodeHandle *nh, double &loopRate)
	Get loop rate launch parameter. More...

void	fetchMotionCommandTopic (ros::NodeHandle *nh, std::string &motionCommandTopic)
	Get motion command topic launch parameter. More...

void	fetchMotorCommandTopic (ros::NodeHandle *nh, std::string &motorCommandTopic)
	Get motor command topic launch parameter. More...

void	fetchOdomChildFrameID (ros::NodeHandle *nh, std::string &odomChildFrameID)
	Get odom child frame id launch parameter. More...

void	fetchOdomFrameID (ros::NodeHandle *nh, std::string &odomFrameID)
	Get odom frame id launch parameter. More...

void	fetchOdomTopic (ros::NodeHandle *nh, std::string &odomTopic)
	Get odometry topic launch parameter. More...

void	fetchSteeringCommandTopic (ros::NodeHandle *nh, std::string &steeringCommandTopic)
	Get steering command topic launch parameter. More...

void	fetchWheelBase (ros::NodeHandle *nh, double &wheelBase)
	Get wheel base launch parameter. More...

void	motionCommand (const twist_msg::ConstPtr &cmdIn, twist_msg cmdOut, bool isTwistCmd)
	Motion command topic callback. More...

void	motorCommand (const int16_msg::ConstPtr &cmdIn, int cmdOut, bool isTwistCmd)
	Motor command topic callback. More...

void	steeringCommand (const int16_msg::ConstPtr &cmdIn, int cmdOut, bool isTwistCmd)
	Steering command topic callback. More...

Variables
static const double	DEFAULT_CAR_WHEELBASE = 0.25

static const double	DEFAULT_CAR_X_COORDINATE = 0

static const double	DEFAULT_CAR_Y_COORDINATE = 0

static const double	DEFAULT_CAR_YAW = 0

static const std::string	DEFAULT_IMU_TOPIC

static const double	DEFAULT_LOOP_RATE

static const std::string	DEFAULT_MOTION_COMMAND_TOPIC

static const std::string	DEFAULT_MOTOR_COMMAND_TOPIC

static const std::string	DEFAULT_ODOM_CHILD_FRAME_ID

static const std::string	DEFAULT_ODOM_FRAME_ID

static const std::string	DEFAULT_ODOM_TOPIC

static const std::string	DEFAULT_STEERING_COMMAND_TOPIC

Detailed Description

This namespace groups all typedefs, utility functions and parameter getter used in the simulation_odom node.

Typedef Documentation

simulation::imu_msg

shortcut for a pointer to a IMU message

Definition at line 37 of file simulation_odom.cpp.

simulation::int16_msg

shortcut for a pointer to a int16 message

Definition at line 32 of file simulation_odom.cpp.

simulation::odom_msg

shortcut for a pointer to a Odometry message

Definition at line 42 of file simulation_odom.cpp.

simulation::twist_msg

shortcut for a pointer to a twist message

Definition at line 27 of file simulation_odom.cpp.

Function Documentation

void simulation::fetchImuTopic	(	ros::NodeHandle *	nh,
		std::string &	imuTopic
	)

Get imu topic launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	imuTopic	topic to which this node publishes IMU messages

Definition at line 258 of file simulation_odom.cpp.

void simulation::fetchInitialX	(	ros::NodeHandle *	nh,
		double &	initialX
	)

Get the initial x-coordinate of the robot.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	initialX	Initial x-coordinate of the robot.

Definition at line 89 of file simulation_odom.cpp.

void simulation::fetchInitialY	(	ros::NodeHandle *	nh,
		double &	initialY
	)

Get the initial y-coordinate of the robot.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	initialY	Initial y-coordinate of the robot.

Definition at line 106 of file simulation_odom.cpp.

void simulation::fetchInitialYaw	(	ros::NodeHandle *	nh,
		double &	initialYaw
	)

Get the initial yaw of the robot. (in radians).

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	initialYaw	Initial yaw of the robot.

Definition at line 123 of file simulation_odom.cpp.

void simulation::fetchLoopRate	(	ros::NodeHandle *	nh,
		double &	loopRate
	)

Get loop rate launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	loopRate	loop rate in Hz

Definition at line 140 of file simulation_odom.cpp.

void simulation::fetchMotionCommandTopic	(	ros::NodeHandle *	nh,
		std::string &	motionCommandTopic
	)

Get motion command topic launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	motionCommandTopic	topic from which this node gets motion commands

Definition at line 190 of file simulation_odom.cpp.

void simulation::fetchMotorCommandTopic	(	ros::NodeHandle *	nh,
		std::string &	motorCommandTopic
	)

Get motor command topic launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	motorCommandTopic	topic from which this node gets motor level commands

Definition at line 226 of file simulation_odom.cpp.

void simulation::fetchOdomChildFrameID	(	ros::NodeHandle *	nh,
		std::string &	odomChildFrameID
	)

Get odom child frame id launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	odomChildFrameID	coordinate system id of the root coordinate system of the robot

Definition at line 173 of file simulation_odom.cpp.

void simulation::fetchOdomFrameID	(	ros::NodeHandle *	nh,
		std::string &	odomFrameID
	)

Get odom frame id launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	odomFrameID	coordinate system id of the odometry

Definition at line 156 of file simulation_odom.cpp.

void simulation::fetchOdomTopic	(	ros::NodeHandle *	nh,
		std::string &	odomTopic
	)

Get odometry topic launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	odomTopic	topic to which this node publishes odometry info

Definition at line 242 of file simulation_odom.cpp.

void simulation::fetchSteeringCommandTopic	(	ros::NodeHandle *	nh,
		std::string &	steeringCommandTopic
	)

Get steering command topic launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	steeringCommandTopic	topic from which this node gets steering level commands

Definition at line 208 of file simulation_odom.cpp.

void simulation::fetchWheelBase	(	ros::NodeHandle *	nh,
		double &	wheelBase
	)

Get wheel base launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	wheelBase	wheelbase in meter

Definition at line 72 of file simulation_odom.cpp.

void simulation::motionCommand	(	const twist_msg::ConstPtr &	cmdIn,
		twist_msg *	cmdOut,
		bool *	isTwistCmd
	)

Motion command topic callback.

Parameters

[in]	cmdIn	input motion message
[out]	cmdOut	output motion message
[out]	isTwistCmd	determines whether the data came from a motion command or motor/steering level command.

Definition at line 276 of file simulation_odom.cpp.

void simulation::motorCommand	(	const int16_msg::ConstPtr &	cmdIn,
		int *	cmdOut,
		bool *	isTwistCmd
	)

Motor command topic callback.

Parameters

[in]	cmdIn	input motor level message
[out]	cmdOut	output motor level
[out]	isTwistCmd	determines whether the data came from a motion command or motor/steering level command.

Definition at line 302 of file simulation_odom.cpp.

void simulation::steeringCommand	(	const int16_msg::ConstPtr &	cmdIn,
		int *	cmdOut,
		bool *	isTwistCmd
	)

Steering command topic callback.

Parameters

[in]	cmdIn	input steering level message
[out]	cmdOut	output steering level
[out]	isTwistCmd	determines whether the data came from a motion command or motor/steering level command.

Definition at line 289 of file simulation_odom.cpp.

Variable Documentation

const double simulation::DEFAULT_CAR_WHEELBASE = 0.25

static

Wheelbase in meters

Definition at line 44 of file simulation_odom.cpp.

const double simulation::DEFAULT_CAR_X_COORDINATE = 0

static

X-Coordinate in meters

Definition at line 45 of file simulation_odom.cpp.

const double simulation::DEFAULT_CAR_Y_COORDINATE = 0

static

Y-Coordinate in meters

Definition at line 46 of file simulation_odom.cpp.

const double simulation::DEFAULT_CAR_YAW = 0

static

Yaw in radians

Definition at line 47 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_IMU_TOPIC

static

Initial value:

=

"/uc_bridge/imu"

Topic to which this node publishes IMU messages.

Definition at line 64 of file simulation_odom.cpp.

const double simulation::DEFAULT_LOOP_RATE

static

Initial value:

=

100.0

Frequency of this simulation.

Definition at line 48 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_MOTION_COMMAND_TOPIC

static

Initial value:

=

"cmd_vel"

Topic from which this node gets motion commands.

Definition at line 54 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_MOTOR_COMMAND_TOPIC

static

Initial value:

=

"/uc_bridge/set_motor_level_msg"

Topic from which this node gets motor level commands.

Definition at line 59 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_ODOM_CHILD_FRAME_ID

static

Initial value:

=

"base_footprint"

Base coordinate system id of the robot

Definition at line 52 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_ODOM_FRAME_ID

static

Initial value:

=

"odom"

Coordinate system id of the odometry

Definition at line 50 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_ODOM_TOPIC

static

Initial value:

=

"odom"

Topic to which this node publishes odometry info.

Definition at line 62 of file simulation_odom.cpp.

const std::string simulation::DEFAULT_STEERING_COMMAND_TOPIC

static

Initial value:

=

"/uc_bridge/set_steering_level_msg"

Topic from which this node gets steering level commands.

Definition at line 56 of file simulation_odom.cpp.

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation