Difference between revisions of "IGVC Software"
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====NodeUtils==== | ====NodeUtils==== | ||
NodeUtils is a utility class which contains methods that are generally useful to nodes: | NodeUtils is a utility class which contains methods that are generally useful to nodes: | ||
| − | ; <code>igvc::param(const ros::NodeHandle pNh, const std::string ¶m_name, T ¶m_val, const T &default_val)</code> | + | ; <code>void igvc::param(const ros::NodeHandle pNh, const std::string ¶m_name, T ¶m_val, const T &default_val)</code> |
: Calls <code>pNh.param</code> with the provided parameters, outputting to <code>ROS_ERROR_STREAM</code> if the parameter is not provided and set from the default value | : Calls <code>pNh.param</code> with the provided parameters, outputting to <code>ROS_ERROR_STREAM</code> if the parameter is not provided and set from the default value | ||
| − | ; <code>igvc::getParam(const ros::NodeHandle &pNh, const std::string ¶m_name, T ¶m_val)</code> | + | ; <code>void igvc::getParam(const ros::NodeHandle &pNh, const std::string ¶m_name, T ¶m_val)</code> |
: Calls <code>pNh.getParam</code> with the provided parameters, outputting to <code>ROS_ERROR_STREAM</code> if the parameter is not provided, then calls <code>ros::shutdown()</code> to exit. | : Calls <code>pNh.getParam</code> with the provided parameters, outputting to <code>ROS_ERROR_STREAM</code> if the parameter is not provided, then calls <code>ros::shutdown()</code> to exit. | ||
| + | |||
| + | ====RobotState==== | ||
| + | RobotState is a utility class which represents the state of the robot as (x, y, θ) | ||
| + | ; <code>void setState(const nav_msgs::Odometry::ConstPtr &msg)</code> | ||
| + | : Sets the state from a <code>nav_msgs::Odometry</code> message | ||
| + | |||
| + | ; <code>Eigen::Vector3d getVector3d()</code> | ||
| + | : Returns the state of the robot as an <code>Eigen::Vector3d</code> of (x, y, θ) | ||
===igvc_msgs=== | ===igvc_msgs=== | ||
[[Category:IGVC]] | [[Category:IGVC]] | ||
Latest revision as of 22:44, 30 November 2018
Contents
General Information
Our software team uses Robot Operating System (ROS) to develop our code. ROS is a flexible framework developed for quickly prototyping of code for robotic applications. There are many libraries of code that use ROS which allow us to integrate them into our code base with ease.
Quick Links
Installation Instructions
Management
How To Guides
Package Overview
igvc_description
igvc_gazebo
Gazebo Interface
igvc_perception
Filter Lidar
Vision
Path Planner
Path Follower
State Estimator
Mapper
Waypoint
Wheel Odometer
igvc_platform
Motor Controller
IMU
Joystick Driver
System Stats
igvc_rviz_plugins
RVIZ plugins
igvc_utils
Serial
NodeUtils
NodeUtils is a utility class which contains methods that are generally useful to nodes:
void igvc::param(const ros::NodeHandle pNh, const std::string ¶m_name, T ¶m_val, const T &default_val)- Calls
pNh.paramwith the provided parameters, outputting toROS_ERROR_STREAMif the parameter is not provided and set from the default value
void igvc::getParam(const ros::NodeHandle &pNh, const std::string ¶m_name, T ¶m_val)- Calls
pNh.getParamwith the provided parameters, outputting toROS_ERROR_STREAMif the parameter is not provided, then callsros::shutdown()to exit.
RobotState
RobotState is a utility class which represents the state of the robot as (x, y, θ)
void setState(const nav_msgs::Odometry::ConstPtr &msg)- Sets the state from a
nav_msgs::Odometrymessage
Eigen::Vector3d getVector3d()- Returns the state of the robot as an
Eigen::Vector3dof (x, y, θ)
