TrajectoryPublisher Class Reference

A class for publishing the current state of a trajectory. More...

#include <trajectory_publisher.h>

Public Member Functions
	TrajectoryPublisher (ros::NodeHandle nh)
	Constructor for TrajectoryPublisher Class.
void	spin ()
	Calls ros spinOnce and pubs data at set frequency.

Private Member Functions
void	importTrajectory ()
	Import trajectory from external source (user implemented)
void	robotPlanCallback (const quad_msgs::RobotPlan::ConstPtr &msg)
	Callback function to handle new body plan data.
void	publishTrajectoryState ()
	Publish the current trajectory state.

Private Attributes
ros::Subscriber	body_plan_sub_
	ROS Subscriber for the body plan.
ros::Publisher	trajectory_state_pub_
	ROS Publisher for the current trajectory state.
ros::NodeHandle	nh_
	Nodehandle to pub to and sub from.
quad_msgs::RobotPlan	body_plan_msg_
	Vector of body states to store the body plan.
quad_msgs::RobotState::ConstPtr	robot_state_msg_
	Robot state message.
double	update_rate_
	Update rate for sending and receiving data.
std::string	map_frame_
	Handle for the map frame.
std::string	traj_source_
	The source of the current trajectory (import or topic)
std::shared_ptr< quad_utils::QuadKD >	quadKD_
	QuadKD class.

Detailed Description

A class for publishing the current state of a trajectory.

TrajectoryPublisher is a class for publishing the current state of a given robot trajectory. It subscribes to a topic of type RobotPlan or can be customized to import data directly (such as from a .csv), then interpolates that trajectory to find the state at the current time and publishes it to the trajectory state topic.

Constructor & Destructor Documentation

TrajectoryPublisher()

TrajectoryPublisher::TrajectoryPublisher

(

ros::NodeHandle

nh

)

Constructor for TrajectoryPublisher Class.

Parameters

[in]

nh

ROS NodeHandle to publish and subscribe from

Returns

Constructed object of type TrajectoryPublisher

Member Function Documentation

robotPlanCallback()

void TrajectoryPublisher::robotPlanCallback ( const quad_msgs::RobotPlan::ConstPtr &  msg )

private

Callback function to handle new body plan data.

Parameters

[in]

msg

Body plan message contining interpolated output of body planner

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

• quad_utils/include/quad_utils/trajectory_publisher.h
• quad_utils/src/trajectory_publisher.cpp