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Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
myRos.h
- Committer:
- nakedt555
- Date:
- 2018-12-07
- Revision:
- 1:bdd17feaa4ce
- Parent:
- 0:10f626cf3ec4
- Child:
- 3:a45557a0dcb8
File content as of revision 1:bdd17feaa4ce:
#ifndef _MY_ROS_H_ #define _MY_ROS_H_ #include "type.h" #include "odom.h" #include <mbed.h> #include <ros.h> #include <ros/time.h> #include <std_msgs/Bool.h> #include <geometry_msgs/Point.h> #include <geometry_msgs/PointStamped.h> #include <std_msgs/Empty.h> #define COURT_RED false #define COURT_BLUE true void ack_from_pc_cb(const std_msgs::Empty&); class My_Ros : public Odom_Abstract { public: private: ros::NodeHandle nh_; bool court_color_; Vec3f initial_pose_; Vec3f pose_; //current position(odom -> base_footprint) public: //Constructor My_Ros() : court_color_(COURT_RED){ //ROS node initialize nh_.getHardware()->setBaud(115200); nh_.initNode(); initialize(); } //Loop function void loop(); //Setter void set_initial_pose(Vec3f initial_pose){ initial_pose_ = initial_pose; } void set_court_color(bool court_color){ court_color_ = court_color; } template<typename SubscriberT> void set_subscliber(SubscriberT& s){ nh_.subscribe(s); } //amcl parameter の初期化 void enable_initialize_amcl(); private: //Initialise void initialize(); //Publisher void court_color_publisher(); void initial_pose_publisher(); void pose_publisher(); //Amcl parameter void set_amcl_parameter(); }; #endif