Implementation simulation_odom ros node. More...
#include <ros/ros.h>#include <geometry_msgs/Twist.h>#include <std_msgs/Int16.h>#include <sensor_msgs/Imu.h>#include <pses_simulation/CarModel.h>#include <vector>#include <nav_msgs/Odometry.h>#include <tf/transform_broadcaster.h>
Include dependency graph for simulation_odom.cpp:
Go to the source code of this file.
Namespaces | |
| simulation | |
| This namespace groups all typedefs, utility functions and parameter getter used in the simulation_odom node. | |
Typedefs | |
| typedef sensor_msgs::Imu | simulation::imu_msg |
| shortcut for a pointer to a IMU message More... | |
| typedef std_msgs::Int16 | simulation::int16_msg |
| shortcut for a pointer to a int16 message More... | |
| typedef nav_msgs::Odometry | simulation::odom_msg |
| shortcut for a pointer to a Odometry message More... | |
| typedef geometry_msgs::Twist | simulation::twist_msg |
| shortcut for a pointer to a twist message More... | |
Functions | |
| void | simulation::fetchImuTopic (ros::NodeHandle *nh, std::string &imuTopic) |
| Get imu topic launch parameter. More... | |
| void | simulation::fetchInitialX (ros::NodeHandle *nh, double &initialX) |
| Get the initial x-coordinate of the robot. More... | |
| void | simulation::fetchInitialY (ros::NodeHandle *nh, double &initialY) |
| Get the initial y-coordinate of the robot. More... | |
| void | simulation::fetchInitialYaw (ros::NodeHandle *nh, double &initialYaw) |
| Get the initial yaw of the robot. (in radians). More... | |
| void | simulation::fetchLoopRate (ros::NodeHandle *nh, double &loopRate) |
| Get loop rate launch parameter. More... | |
| void | simulation::fetchMotionCommandTopic (ros::NodeHandle *nh, std::string &motionCommandTopic) |
| Get motion command topic launch parameter. More... | |
| void | simulation::fetchMotorCommandTopic (ros::NodeHandle *nh, std::string &motorCommandTopic) |
| Get motor command topic launch parameter. More... | |
| void | simulation::fetchOdomChildFrameID (ros::NodeHandle *nh, std::string &odomChildFrameID) |
| Get odom child frame id launch parameter. More... | |
| void | simulation::fetchOdomFrameID (ros::NodeHandle *nh, std::string &odomFrameID) |
| Get odom frame id launch parameter. More... | |
| void | simulation::fetchOdomTopic (ros::NodeHandle *nh, std::string &odomTopic) |
| Get odometry topic launch parameter. More... | |
| void | simulation::fetchSteeringCommandTopic (ros::NodeHandle *nh, std::string &steeringCommandTopic) |
| Get steering command topic launch parameter. More... | |
| void | simulation::fetchWheelBase (ros::NodeHandle *nh, double &wheelBase) |
| Get wheel base launch parameter. More... | |
| int | main (int argc, char **argv) |
| Main function of this ros node. More... | |
| void | simulation::motionCommand (const twist_msg::ConstPtr &cmdIn, twist_msg *cmdOut, bool *isTwistCmd) |
| Motion command topic callback. More... | |
| void | simulation::motorCommand (const int16_msg::ConstPtr &cmdIn, int *cmdOut, bool *isTwistCmd) |
| Motor command topic callback. More... | |
| void | simulation::steeringCommand (const int16_msg::ConstPtr &cmdIn, int *cmdOut, bool *isTwistCmd) |
| Steering command topic callback. More... | |
Variables | |
| static const double | simulation::DEFAULT_CAR_WHEELBASE = 0.25 |
| static const double | simulation::DEFAULT_CAR_X_COORDINATE = 0 |
| static const double | simulation::DEFAULT_CAR_Y_COORDINATE = 0 |
| static const double | simulation::DEFAULT_CAR_YAW = 0 |
| static const std::string | simulation::DEFAULT_IMU_TOPIC |
| static const double | simulation::DEFAULT_LOOP_RATE |
| static const std::string | simulation::DEFAULT_MOTION_COMMAND_TOPIC |
| static const std::string | simulation::DEFAULT_MOTOR_COMMAND_TOPIC |
| static const std::string | simulation::DEFAULT_ODOM_CHILD_FRAME_ID |
| static const std::string | simulation::DEFAULT_ODOM_FRAME_ID |
| static const std::string | simulation::DEFAULT_ODOM_TOPIC |
| static const std::string | simulation::DEFAULT_STEERING_COMMAND_TOPIC |
Detailed Description
Implementation simulation_odom ros node.
Definition in file simulation_odom.cpp.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Main function of this ros node.
Definition at line 314 of file simulation_odom.cpp.