駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

myRos.h@1:bdd17feaa4ce, 2018-12-07 (annotated)

Committer:
nakedt555
Date:
Fri Dec 07 20:59:56 2018 +0000
Revision:
1:bdd17feaa4ce
Parent:
0:10f626cf3ec4
Child:
3:a45557a0dcb8
create odom_h;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nakedt555 0:10f626cf3ec4 1 #ifndef _MY_ROS_H_
nakedt555 0:10f626cf3ec4 2 #define _MY_ROS_H_
nakedt555 0:10f626cf3ec4 3
nakedt555 1:bdd17feaa4ce 4 #include "type.h"
nakedt555 1:bdd17feaa4ce 5 #include "odom.h"
nakedt555 1:bdd17feaa4ce 6
nakedt555 1:bdd17feaa4ce 7 #include <mbed.h>
nakedt555 1:bdd17feaa4ce 8 #include <ros.h>
nakedt555 1:bdd17feaa4ce 9 #include <ros/time.h>
nakedt555 1:bdd17feaa4ce 10 #include <std_msgs/Bool.h>
nakedt555 1:bdd17feaa4ce 11 #include <geometry_msgs/Point.h>
nakedt555 1:bdd17feaa4ce 12 #include <geometry_msgs/PointStamped.h>
nakedt555 1:bdd17feaa4ce 13 #include <std_msgs/Empty.h>
nakedt555 0:10f626cf3ec4 14
nakedt555 0:10f626cf3ec4 15 #define COURT_RED false
nakedt555 0:10f626cf3ec4 16 #define COURT_BLUE true
nakedt555 0:10f626cf3ec4 17
nakedt555 1:bdd17feaa4ce 18 void ack_from_pc_cb(const std_msgs::Empty&);
nakedt555 1:bdd17feaa4ce 19
nakedt555 1:bdd17feaa4ce 20 class My_Ros : public Odom_Abstract
nakedt555 0:10f626cf3ec4 21 {
nakedt555 1:bdd17feaa4ce 22 public:
nakedt555 1:bdd17feaa4ce 23
nakedt555 0:10f626cf3ec4 24 private:
nakedt555 1:bdd17feaa4ce 25 ros::NodeHandle nh_;
nakedt555 1:bdd17feaa4ce 26 bool court_color_;
nakedt555 1:bdd17feaa4ce 27 Vec3f initial_pose_;
nakedt555 1:bdd17feaa4ce 28 Vec3f pose_; //current position(odom -> base_footprint)
nakedt555 0:10f626cf3ec4 29
nakedt555 0:10f626cf3ec4 30 public:
nakedt555 1:bdd17feaa4ce 31 //Constructor
nakedt555 1:bdd17feaa4ce 32 My_Ros() : court_color_(COURT_RED){
nakedt555 1:bdd17feaa4ce 33 //ROS node initialize
nakedt555 1:bdd17feaa4ce 34 nh_.getHardware()->setBaud(115200);
nakedt555 1:bdd17feaa4ce 35 nh_.initNode();
nakedt555 1:bdd17feaa4ce 36
nakedt555 1:bdd17feaa4ce 37 initialize();
nakedt555 1:bdd17feaa4ce 38 }
nakedt555 0:10f626cf3ec4 39
nakedt555 1:bdd17feaa4ce 40 //Loop function
nakedt555 1:bdd17feaa4ce 41 void loop();
nakedt555 1:bdd17feaa4ce 42
nakedt555 1:bdd17feaa4ce 43 //Setter
nakedt555 1:bdd17feaa4ce 44 void set_initial_pose(Vec3f initial_pose){
nakedt555 1:bdd17feaa4ce 45 initial_pose_ = initial_pose;
nakedt555 1:bdd17feaa4ce 46 }
nakedt555 1:bdd17feaa4ce 47 void set_court_color(bool court_color){
nakedt555 1:bdd17feaa4ce 48 court_color_ = court_color;
nakedt555 1:bdd17feaa4ce 49 }
nakedt555 1:bdd17feaa4ce 50 template<typename SubscriberT>
nakedt555 1:bdd17feaa4ce 51 void set_subscliber(SubscriberT& s){
nakedt555 1:bdd17feaa4ce 52 nh_.subscribe(s);
nakedt555 1:bdd17feaa4ce 53 }
nakedt555 1:bdd17feaa4ce 54
nakedt555 1:bdd17feaa4ce 55 //amcl parameter の初期化
nakedt555 1:bdd17feaa4ce 56 void enable_initialize_amcl();
nakedt555 1:bdd17feaa4ce 57
nakedt555 0:10f626cf3ec4 58 private:
nakedt555 1:bdd17feaa4ce 59 //Initialise
nakedt555 1:bdd17feaa4ce 60 void initialize();
nakedt555 1:bdd17feaa4ce 61
nakedt555 1:bdd17feaa4ce 62 //Publisher
nakedt555 1:bdd17feaa4ce 63 void court_color_publisher();
nakedt555 1:bdd17feaa4ce 64 void initial_pose_publisher();
nakedt555 1:bdd17feaa4ce 65 void pose_publisher();
nakedt555 1:bdd17feaa4ce 66
nakedt555 1:bdd17feaa4ce 67 //Amcl parameter
nakedt555 1:bdd17feaa4ce 68 void set_amcl_parameter();
nakedt555 0:10f626cf3ec4 69 };
nakedt555 0:10f626cf3ec4 70
nakedt555 0:10f626cf3ec4 71 #endif