#include <sstream>
#include <iostream>
#include <fstream>
#include <robotcontrol.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Twist.h>
#include <imu_filter_madgwick/imu_filter.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <ros/package.h>
#include <ros/ros.h>
#include <std_msgs/Float32MultiArray.h>
#include <tf/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/Imu.h>
#include <robot/RobotConfig.h>
#include "robot/robot.h"

Include dependency graph for robotbackuop.cpp:

Functions
void	dynamic_callback (robot::RobotConfig &config, uint32_t level)

int	main (int argc, char **argv)

int	rc_init ()

void	read_sensors ()

void	twistCallback (const geometry_msgs::Twist::ConstPtr &msg)

Variables
float	angle_th = 0.0

rc_mpu_data_t	data

ImuFilter	imu_filter

ros::Publisher	imu_pub

float	integral_left = 0.0

float	integral_right = 0.0

float	ki = 0.0

float	kp = 0.0

int	left_encoder = 0

int	left_encoder_previous = 0

ros::Publisher	line_raw_pub

float	line_values [6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}

int	odom_source

float	pitch = 0.0

float	position_x = 0.0

float	position_y = 0.0

int	right_encoder = 0

int	right_encoder_previous = 0

float	roll = 0.0

ros::Publisher	twist_pub

float	v_left_ref = 0.0

float	v_right_ref = 0.0

float	v_robot = 0.0

float	w_left_ref = 0.0

float	w_right_ref = 0.0

float	w_robot = 0.0

float	yaw = 0.0

Function Documentation

◆ dynamic_callback()

void dynamic_callback	(	robot::RobotConfig &	config,
		uint32_t	level
	)

Definition at line 148 of file robotbackuop.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 159 of file robotbackuop.cpp.

◆ rc_init()

int rc_init ( )

Definition at line 73 of file robotbackuop.cpp.

◆ read_sensors()

void read_sensors ( )

Definition at line 99 of file robotbackuop.cpp.

◆ twistCallback()

void twistCallback ( const geometry_msgs::Twist::ConstPtr & msg )

Definition at line 139 of file robotbackuop.cpp.

Variable Documentation

◆ angle_th

float angle_th = 0.0

Definition at line 42 of file robotbackuop.cpp.

◆ data

rc_mpu_data_t data

Definition at line 51 of file robotbackuop.cpp.

◆ imu_filter

ImuFilter imu_filter

Definition at line 52 of file robotbackuop.cpp.

◆ imu_pub

ros::Publisher imu_pub

Definition at line 68 of file robotbackuop.cpp.

◆ integral_left

float integral_left = 0.0

Definition at line 55 of file robotbackuop.cpp.

◆ integral_right

float integral_right = 0.0

Definition at line 56 of file robotbackuop.cpp.

◆ ki

float ki = 0.0

Definition at line 58 of file robotbackuop.cpp.

◆ kp

float kp = 0.0

Definition at line 57 of file robotbackuop.cpp.

◆ left_encoder

int left_encoder = 0

Definition at line 36 of file robotbackuop.cpp.

◆ left_encoder_previous

int left_encoder_previous = 0

Definition at line 37 of file robotbackuop.cpp.

◆ line_raw_pub

ros::Publisher line_raw_pub

Definition at line 65 of file robotbackuop.cpp.

◆ line_values

float line_values[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}

Definition at line 61 of file robotbackuop.cpp.

◆ odom_source

int odom_source

Definition at line 50 of file robotbackuop.cpp.

◆ pitch

float pitch = 0.0

Definition at line 46 of file robotbackuop.cpp.

◆ position_x

float position_x = 0.0

Definition at line 40 of file robotbackuop.cpp.

◆ position_y

float position_y = 0.0

Definition at line 41 of file robotbackuop.cpp.

◆ right_encoder

int right_encoder = 0

Definition at line 38 of file robotbackuop.cpp.

◆ right_encoder_previous

int right_encoder_previous = 0

Definition at line 39 of file robotbackuop.cpp.

◆ roll

float roll = 0.0

Definition at line 47 of file robotbackuop.cpp.

◆ twist_pub

ros::Publisher twist_pub

Definition at line 66 of file robotbackuop.cpp.

◆ v_left_ref

float v_left_ref = 0.0

Definition at line 30 of file robotbackuop.cpp.

◆ v_right_ref

float v_right_ref = 0.0

Definition at line 31 of file robotbackuop.cpp.

◆ v_robot

float v_robot = 0.0

Definition at line 43 of file robotbackuop.cpp.

◆ w_left_ref

float w_left_ref = 0.0

Definition at line 32 of file robotbackuop.cpp.

◆ w_right_ref

float w_right_ref = 0.0

Definition at line 33 of file robotbackuop.cpp.

◆ w_robot

float w_robot = 0.0

Definition at line 44 of file robotbackuop.cpp.

◆ yaw

float yaw = 0.0

Definition at line 45 of file robotbackuop.cpp.

Functions

Variables