WebotsRobot Class Reference

#include <rosinljubljana.h>

Inheritance diagram for WebotsRobot:

Public Member Functions
void	enableGyro (ros::NodeHandle)
void	gyroCallback (const sensor_msgs::Imu &imu)
void	init (ros::NodeHandle, std::string)
void	moveCallback (const geometry_msgs::Twist &msg)
void	subscribeGyro (ros::NodeHandle)
void	subscribeMove (ros::NodeHandle)
void	transmitLaserScan (WebotsRobot[], int list_length, Field *field)
	WebotsRobot ()
Public Member Functions inherited from Robot
void	EKFOdometryCallback (const nav_msgs::Odometry &msg)
void	odometryCallback (const nav_msgs::Odometry &msg)
	Robot ()
void	setFrames ()
void	setName (std::string, ros::NodeHandle nh)
void	setPositionOrientation (tf::Vector3, tf::Quaternion)
void	transmitFrames ()
void	transmitLaserScan (Robot[], int list_length, Field *field)
void	transmitOdom ()
void	transmitPoseFromAlvarPoseMsg ()
void	updatePositionOrientation ()

Public Attributes
std::stringstream	cmd_vel_subscriber_name
	name of topic for cmd_vel More...
std::string	controllerNameinWebots
	name of controller in webots environment More...
std::string	gyroNameinWebots
ros::ServiceClient	leftWheelPositionClient
ros::ServiceClient	leftWheelVelocityClient
ros::ServiceClient	rightWheelPositionClient
	service clients for individual wheels of robot More...
ros::ServiceClient	rightWheelVelocityClient
std::string	robotNameinWebots
	name of robot in webots environment More...
ros::Subscriber	subCmd_vel
	Subscriber for cmd_vel topic. More...
ros::Subscriber	subGyro
float	wheelDistance
	Robot physical parameters. More...
float	wheelRadius
webots_ros::set_float	wheelSrv
	variable for interfacing with webots More...
Public Attributes inherited from Robot
float	angularz
tf::TransformBroadcaster	br
	Broadcaster and listener of robot transforms. More...
float	fi
std::stringstream	frameAr_pose_markerName
	Name of alvar marker frame. More...
std::stringstream	frameBase_linkName
	Name of base_link frame. More...
std::stringstream	frameMapName
	Name of map frame. More...
std::stringstream	frameOdomName
	Name of odom frame. More...
ros::Publisher	LaserScan_publisher
	Publishers of LaserScan msg and Odometry msg. More...
std::stringstream	LaserScan_publisher_name
	Name of LaserScan publisher. More...
tf::TransformListener	listener
std::string	name
	Number of robot. More...
nav_msgs::Odometry	odom
	Variable for storing Odometry msg. More...
ros::Publisher	odom_publisher
std::stringstream	odom_publisher_name
	Name of odometry publisher. More...
geometry_msgs::PoseWithCovarianceStamped	pose_alvar
	Vaifable for storing pose from alvar. More...
ros::Publisher	pose_alvar_publisher
std::stringstream	pose_alvar_publisher_name
std::stringstream	robot_ekf_odom_subscriber_name
ros::Subscriber	sub_ekf_odom
	subscriber for robot odometry from ekf_odom More...
ros::Time	time
	Variables for determening time difference. More...
ros::Time	time_2
tf::Transform	transformBase_Link
tf::Transform	transformMap
	Variables for transforms of frames. More...
tf::Transform	transformOdom
float	vx
	variables for storing position, veloctiy parameters More...
float	vy
float	x
float	y

Detailed Description

Webots Robot is class for creating robot instance in Webots simulation environment.

Contains methods for communication with webots simulation environment.

Definition at line 349 of file rosinljubljana.h.

Constructor & Destructor Documentation

WebotsRobot()

WebotsRobot::WebotsRobot

(

)

Constructor for WebotsRobot instance.

Definition at line 532 of file rosinljubljana_objects.cpp.

Member Function Documentation

enableGyro()

void WebotsRobot::enableGyro

(

ros::NodeHandle

nh

)

Enables gyro in webots.

Definition at line 677 of file rosinljubljana_objects.cpp.

gyroCallback()

void WebotsRobot::gyroCallback

(

const sensor_msgs::Imu &

imu

)

Method for publishing robot odometry.

Definition at line 688 of file rosinljubljana_objects.cpp.

init()

void WebotsRobot::init	(	ros::NodeHandle	nh,
		std::string	controllerName
	)

Connects to webots environment.

Parameters

nh	ros node nodehandle
controllerName	name of ros controller in webost environment

Definition at line 538 of file rosinljubljana_objects.cpp.

moveCallback()

void WebotsRobot::moveCallback

(

const geometry_msgs::Twist &

msg

)

Callback method for subCmd_vel subscriber.

Parameters

msg	Twist massage for controlling robot

Definition at line 565 of file rosinljubljana_objects.cpp.

subscribeGyro()

void WebotsRobot::subscribeGyro

(

ros::NodeHandle

nh

)

Definition at line 693 of file rosinljubljana_objects.cpp.

subscribeMove()

void WebotsRobot::subscribeMove

(

ros::NodeHandle

nh

)

Method for subscribing to topic

Parameters

nh	ros node nodehandle

Definition at line 672 of file rosinljubljana_objects.cpp.

transmitLaserScan()

void WebotsRobot::transmitLaserScan	(	WebotsRobot	robotek_list[],
		int	list_length,
		Field *	field
	)

Transmits Laser scan massage of robot

Parameters

robotek_list	List of Numbers of all present robots
list_length	Number of all robots

Definition at line 580 of file rosinljubljana_objects.cpp.

Member Data Documentation

cmd_vel_subscriber_name

std::stringstream WebotsRobot::cmd_vel_subscriber_name

name of topic for cmd_vel

Definition at line 420 of file rosinljubljana.h.

controllerNameinWebots

std::string WebotsRobot::controllerNameinWebots

name of controller in webots environment

Definition at line 405 of file rosinljubljana.h.

gyroNameinWebots

std::string WebotsRobot::gyroNameinWebots

Definition at line 421 of file rosinljubljana.h.

leftWheelPositionClient

ros::ServiceClient WebotsRobot::leftWheelPositionClient

Definition at line 415 of file rosinljubljana.h.

leftWheelVelocityClient

ros::ServiceClient WebotsRobot::leftWheelVelocityClient

Definition at line 417 of file rosinljubljana.h.

rightWheelPositionClient

ros::ServiceClient WebotsRobot::rightWheelPositionClient

service clients for individual wheels of robot

Definition at line 414 of file rosinljubljana.h.

rightWheelVelocityClient

ros::ServiceClient WebotsRobot::rightWheelVelocityClient

Definition at line 416 of file rosinljubljana.h.

robotNameinWebots

std::string WebotsRobot::robotNameinWebots

name of robot in webots environment

Definition at line 408 of file rosinljubljana.h.

subCmd_vel

ros::Subscriber WebotsRobot::subCmd_vel

Subscriber for cmd_vel topic.

Definition at line 428 of file rosinljubljana.h.

subGyro

ros::Subscriber WebotsRobot::subGyro

Definition at line 429 of file rosinljubljana.h.

wheelDistance

float WebotsRobot::wheelDistance

Robot physical parameters.

Definition at line 424 of file rosinljubljana.h.

wheelRadius

float WebotsRobot::wheelRadius

Definition at line 425 of file rosinljubljana.h.

wheelSrv

webots_ros::set_float WebotsRobot::wheelSrv

variable for interfacing with webots

Definition at line 411 of file rosinljubljana.h.

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

• rosinljubljana.h
• rosinljubljana_objects.cpp