A class for implementing a remote heartbeat. More...

Public Member Functions
	RemoteHeartbeat (ros::NodeHandle nh)
	Constructor for RemoteHeartbeat Class.

void	spin ()
	Calls ros spinOnce and pubs data at set frequency.

Private Member Functions
void	robotHeartbeatCallback (const std_msgs::Header::ConstPtr &msg)
	Callback function to handle new robot heartbeat.

Private Attributes
ros::NodeHandle	nh_
	Nodehandle to pub to and sub from.

ros::Subscriber	robot_heartbeat_sub_
	Subscriber for robot heartbeat messages.

ros::Publisher	remote_heartbeat_pub_
	ROS publisher for remote heartbeat messages.

double	update_rate_
	Update rate for sending and receiving data.

double	robot_latency_threshold_warn_
	Latency threshold on robot messages for warnings (s)

double	robot_latency_threshold_error_
	Latency threshold on robot messages for error (s)

Detailed Description

A class for implementing a remote heartbeat.

RemoteHeartbeat publishes stamped messages at a fixed rate as a heartbeat

Constructor & Destructor Documentation

RemoteHeartbeat::RemoteHeartbeat ( ros::NodeHandle nh )

Constructor for RemoteHeartbeat Class.

Parameters

[in] nh ROS NodeHandle to publish and subscribe from

void RemoteHeartbeat::robotHeartbeatCallback ( const std_msgs::Header::ConstPtr & msg )

private

Callback function to handle new robot heartbeat.

Parameters

[in] msg header containing robot heartbeat

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