MipResources::KheperaServerROS Class Reference

Khepera Interface using ROS libraries. More...

#include <RemKhepServerROS.h>

Inheritance diagram for MipResources::KheperaServerROS:

List of all members.

Public Member Functions
	KheperaServerROS (int argc, const char *argv[])
	Default constructor.
	KheperaServerROS (KheperaServerROSPars *khPars)
	Default constructor.
	~KheperaServerROS ()
	Default destructor.
bool	searchConnection ()
	Search for connection with a remote client.KheperaServer::.
void	receiveCommands ()
	Receiving commands.
int	parseCommands ()
	Parse commands.
void	executeCommands ()
	Execute commands.
ROSNode *	getRosNode ()
	Get the pointer to the current ROS node.
KorebotROS *	getKorebot ()
	Get the pointer to the resource Korebot using ROS.
void	getVelocityCommand (Decimal &xVel, Decimal &omega)
	Get the actual velocity commands.
void	getTStateCommand (MotionModuleTState &state)
	Get the actual TState commands.
void	lockLaserMutex ()
	Lock the laser mutex.
void	unlockLaserMutex ()
	Unlock the laser mutex.

---

Detailed Description

Khepera Interface using ROS libraries.

Author:

Marco Cognetti

---

Constructor & Destructor Documentation

KheperaServerROS::KheperaServerROS	(	int	argc,
		const char *	argv[]
	)

Default constructor.

Parameters:

[in]	argc	Integer to be passed to ros::init
[in]	argv	Char to be passed to ros::init

LASER MANAGEMENT: IN GAZEBO CASE, LASER DATA ARE PUBLISHED BY LASER CONTROLLER. THERE ARE TWO SOLUTIONS 1) AN OUTPUT NODE PUBLISHES LASER DATA. IT COULD MAKE SENSE SINCE LASER IS A DIFFERENT DEVICE FROM THE ROBOT 2) IMPORT THE CONTROLLER DATA HERE AND PUBLISH DATA FROM HERE. IT IS MUCH HARDER. OBVIOUSLY, I WILL USE THE SECOND ONE.

KheperaServerROS::KheperaServerROS

(

KheperaServerROSPars *

khPars

)

Default constructor.

LASER MANAGEMENT: IN GAZEBO CASE, LASER DATA ARE PUBLISHED BY LASER CONTROLLER. THERE ARE TWO SOLUTIONS 1) AN OUTPUT NODE PUBLISHES LASER DATA. IT COULD MAKE SENSE SINCE LASER IS A DIFFERENT DEVICE FROM THE ROBOT 2) IMPORT THE CONTROLLER DATA HERE AND PUBLISH DATA FROM HERE. IT IS MUCH HARDER. OBVIOUSLY, I WILL USE THE SECOND ONE.

KheperaServerROS::~KheperaServerROS

(

)

Default destructor.

---

Member Function Documentation

bool KheperaServerROS::searchConnection

(

)

Search for connection with a remote client.KheperaServer::.

void KheperaServerROS::receiveCommands

(

)

Receiving commands.

int KheperaServerROS::parseCommands

(

)

Parse commands.

Returns:

0 if the last commands is a velocity command; 1 if it is a tstate command, -1 if no valid command is received

void KheperaServerROS::executeCommands

(

)

Execute commands.

HERE TWO OPPORTUNITIES

MipResources::ROSNode * KheperaServerROS::getRosNode

(

)

Get the pointer to the current ROS node.

Returns:

ROSNode created in the constructor of this class

KorebotROS * KheperaServerROS::getKorebot

(

)

Get the pointer to the resource Korebot using ROS.

Returns:

Pointer to KorebotROS

void KheperaServerROS::getVelocityCommand	(	Decimal &	xVel,
		Decimal &	omega
	)

Get the actual velocity commands.

Parameters:

[out]	&xVel	Velocity along x-axis of the robot (normally, along the moving direction of the robot
[out]	&omega	Angular velocity along z-axis of the robot

void KheperaServerROS::getTStateCommand

(

MotionModuleTState &

state

)

Get the actual TState commands.

Parameters:

[out]

state

MotionModule where all information about the state will be saved

void KheperaServerROS::lockLaserMutex

(

)

Lock the laser mutex.

void KheperaServerROS::unlockLaserMutex

(

)

Unlock the laser mutex.

---

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

• main/RemKhepServer/RemKhepServerROS.h
• main/RemKhepServer/RemKhepServerROS.cpp