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major revision

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This commit is contained in:
Ruixiang Du
2019-07-08 22:24:51 -04:00
parent 6f5b7087a2
commit 727b0a2b05
97 changed files with 5058 additions and 832 deletions
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26
scout_base/include/scout_base/scout_messenger.hpp
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@@ -11,13 +11,12 @@
#define SCOUT_MESSENGER_HPP
#include <string>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_broadcaster.h>
#include "scout_msgs/ScoutLightCmd.h"
#include "scout/scout_base.hpp"
namespace wescore
@@ -25,25 +24,32 @@ namespace wescore
class ScoutROSMessenger
{
public:
ScoutROSMessenger(ScoutBase &scout, ros::NodeHandle nh);
explicit ScoutROSMessenger(ros::NodeHandle nh);
ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle nh);
int control_rate_;
std::string odom_frame_;
std::string base_frame_;
bool simulated_robot_;
int sim_control_rate_;
void SetupSubscription();
void PublishStateToROS();
void PublishSimStateToROS(double linear, double angular);
void GetCurrentMotionCmdForSim(double &linear, double &angular);
private:
ScoutBase &scout_;
ScoutBase *scout_;
ros::NodeHandle nh_;
int32_t cmd_timeout_counter_ = 0;
std::mutex twist_mutex_;
geometry_msgs::Twist current_twist_;
ros::Publisher odom_publisher_;
ros::Subscriber cmd_subscriber_;
ros::Publisher status_publisher_;
ros::Subscriber motion_cmd_subscriber_;
ros::Subscriber light_cmd_subscriber_;
tf::TransformBroadcaster tf_broadcaster_;
private:
@@ -58,7 +64,9 @@ private:
ros::Time current_time_;
void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg);
void PublishOdometryToROS(double linear, double angular, double dt);
};
} // namespace scout
} // namespace wescore
#endif /* SCOUT_MESSENGER_HPP */