diff --git a/include/lidar_lite_driver.h b/include/lidar_lite_driver.h
index 67a5bd69f499013226c93d7e0b57d7acf859d8b1..b0e17a55c0ffc39caf23d262894b20060cc4efb5 100644
--- a/include/lidar_lite_driver.h
+++ b/include/lidar_lite_driver.h
@@ -1,5 +1,6 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
-// Author Angel Santamaria-Navarro
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial,
+// CSIC-UPC.
+// Author Angel Santamaria-Navarro
// All rights reserved.
//
// This file is part of iri-ros-pkg
@@ -15,9 +16,10 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the
+// correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab
@@ -35,133 +37,136 @@
* \brief IRI ROS Specific Driver Class
*
* This class inherits from the IRI Base class IriBaseDriver, which provides the
- * guidelines to implement any specific driver. The IriBaseDriver class offers an
+ * guidelines to implement any specific driver. The IriBaseDriver class offers
+ * an
* easy framework to integrate functional drivers implemented in C++ with the
* ROS driver structure. ROS driver_base state transitions are already managed
* by IriBaseDriver.
*
* The LidarLiteDriver class must implement all specific driver requirements to
- * safetely open, close, run and stop the driver at any time. It also must
+ * safetely open, close, run and stop the driver at any time. It also must
* guarantee an accessible interface for all driver's parameters.
*
* The LidarLiteConfig.cfg needs to be filled up with those parameters suitable
- * to be changed dynamically by the ROS dyanmic reconfigure application. The
+ * to be changed dynamically by the ROS dyanmic reconfigure application. The
* implementation of the CIriNode class will manage those parameters through
* methods like postNodeOpenHook() and reconfigureNodeHook().
*
*/
class LidarLiteDriver : public iri_base_driver::IriBaseDriver
{
- private:
- // private attributes and methods
-
- CLidarLite* laser_ptr_;
- bool params_set_;
- std::string serial_;
- int config_mode_;
-
- public:
- /**
- * \brief define config type
- *
- * Define a Config type with the LidarLiteConfig. All driver implementations
- * will then use the same variable type Config.
- */
- typedef iri_lidar_lite::LidarLiteConfig Config;
-
- /**
- * \brief config variable
- *
- * This variable has all the driver parameters defined in the cfg config file.
- * Is updated everytime function config_update() is called.
- */
- Config config_;
-
- /**
- * \brief constructor
- *
- * In this constructor parameters related to the specific driver can be
- * initalized. Those parameters can be also set in the openDriver() function.
- * Attributes from the main node driver class IriBaseDriver such as loop_rate,
- * may be also overload here.
- */
- LidarLiteDriver(void);
-
- /**
- * \brief open driver
- *
- * In this function, the driver must be openned. Openning errors must be
- * taken into account. This function is automatically called by
- * IriBaseDriver::doOpen(), an state transition is performed if return value
- * equals true.
- *
- * \return bool successful
- */
- bool openDriver(void);
-
- /**
- * \brief close driver
- *
- * In this function, the driver must be closed. Variables related to the
- * driver state must also be taken into account. This function is automatically
- * called by IriBaseDriver::doClose(), an state transition is performed if
- * return value equals true.
- *
- * \return bool successful
- */
- bool closeDriver(void);
-
- /**
- * \brief start driver
- *
- * After this function, the driver and its thread will be started. The driver
- * and related variables should be properly setup. This function is
- * automatically called by IriBaseDriver::doStart(), an state transition is
- * performed if return value equals true.
- *
- * \return bool successful
- */
- bool startDriver(void);
-
- /**
- * \brief stop driver
- *
- * After this function, the driver's thread will stop its execution. The driver
- * and related variables should be properly setup. This function is
- * automatically called by IriBaseDriver::doStop(), an state transition is
- * performed if return value equals true.
- *
- * \return bool successful
- */
- bool stopDriver(void);
-
- /**
- * \brief config update
- *
- * In this function the driver parameters must be updated with the input
- * config variable. Then the new configuration state will be stored in the
- * Config attribute.
- *
- * \param new_cfg the new driver configuration state
- *
- * \param level level in which the update is taken place
- */
- void config_update(Config& new_cfg, uint32_t level=0);
-
- // here define all lidar_lite_driver interface methods to retrieve and set
- // the driver parameters
-
- void setParams(const std::string &serial, const int &config_mode);
-
- int getRange(void);
-
- /**
- * \brief Destructor
- *
- * This destructor is called when the object is about to be destroyed.
- *
- */
- ~LidarLiteDriver(void);
+private:
+ // private attributes and methods
+
+ CLidarLite* laser_ptr_;
+ bool params_set_;
+ std::string serial_;
+ int config_mode_;
+
+public:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the LidarLiteConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ typedef iri_lidar_lite::LidarLiteConfig Config;
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+
+ /**
+ * \brief constructor
+ *
+ * In this constructor parameters related to the specific driver can be
+ * initalized. Those parameters can be also set in the openDriver() function.
+ * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+ * may be also overload here.
+ */
+ LidarLiteDriver(void);
+
+ /**
+ * \brief open driver
+ *
+ * In this function, the driver must be openned. Openning errors must be
+ * taken into account. This function is automatically called by
+ * IriBaseDriver::doOpen(), an state transition is performed if return value
+ * equals true.
+ *
+ * \return bool successful
+ */
+ bool openDriver(void);
+
+ /**
+ * \brief close driver
+ *
+ * In this function, the driver must be closed. Variables related to the
+ * driver state must also be taken into account. This function is
+ * automatically
+ * called by IriBaseDriver::doClose(), an state transition is performed if
+ * return value equals true.
+ *
+ * \return bool successful
+ */
+ bool closeDriver(void);
+
+ /**
+ * \brief start driver
+ *
+ * After this function, the driver and its thread will be started. The driver
+ * and related variables should be properly setup. This function is
+ * automatically called by IriBaseDriver::doStart(), an state transition is
+ * performed if return value equals true.
+ *
+ * \return bool successful
+ */
+ bool startDriver(void);
+
+ /**
+ * \brief stop driver
+ *
+ * After this function, the driver's thread will stop its execution. The
+ * driver
+ * and related variables should be properly setup. This function is
+ * automatically called by IriBaseDriver::doStop(), an state transition is
+ * performed if return value equals true.
+ *
+ * \return bool successful
+ */
+ bool stopDriver(void);
+
+ /**
+ * \brief config update
+ *
+ * In this function the driver parameters must be updated with the input
+ * config variable. Then the new configuration state will be stored in the
+ * Config attribute.
+ *
+ * \param new_cfg the new driver configuration state
+ *
+ * \param level level in which the update is taken place
+ */
+ void config_update(Config& new_cfg, uint32_t level = 0);
+
+ // here define all lidar_lite_driver interface methods to retrieve and set
+ // the driver parameters
+
+ void setParams(const std::string& serial, const int& config_mode);
+
+ int getRange(void);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~LidarLiteDriver(void);
};
#endif
diff --git a/include/lidar_lite_driver_node.h b/include/lidar_lite_driver_node.h
index aacf55dd1166875c2719f61d97add8518e5f0deb..133353cf85a4ec69ff92a7fe56161a2ccb5a1b3d 100644
--- a/include/lidar_lite_driver_node.h
+++ b/include/lidar_lite_driver_node.h
@@ -1,4 +1,5 @@
-// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial,
+// CSIC-UPC.
// Author Angel Santamaria-Navarro
// All rights reserved.
//
@@ -15,9 +16,10 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-// IMPORTANT NOTE: This code has been generated through a script from the
-// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the
+// correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab
@@ -25,8 +27,8 @@
#ifndef _lidar_lite_driver_node_h_
#define _lidar_lite_driver_node_h_
-#include <iri_base_driver/iri_base_driver_node.h>
#include "lidar_lite_driver.h"
+#include <iri_base_driver/iri_base_driver_node.h>
#include <boost/thread/thread.hpp>
@@ -40,155 +42,162 @@
/**
* \brief IRI ROS Specific Driver Class
*
- * This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>,
- * to provide an execution thread to the driver object. A complete framework
- * with utilites to test the node functionallity or to add diagnostics to
- * specific situations is also given. The inherit template design form allows
+ * This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>,
+ * to provide an execution thread to the driver object. A complete framework
+ * with utilites to test the node functionallity or to add diagnostics to
+ * specific situations is also given. The inherit template design form allows
* complete access to any IriBaseDriver object implementation.
*
- * As mentioned, tests in the different driver states can be performed through
+ * As mentioned, tests in the different driver states can be performed through
* class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests
- * common to all nodes may be also executed in the pattern class IriBaseNodeDriver.
+ * common to all nodes may be also executed in the pattern class
+ * IriBaseNodeDriver.
* Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for
* more details:
- * http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer)
+ * http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic
+ * Analyzer)
* http://www.ros.org/wiki/self_test/ (Example: Self Test)
*/
-class LidarLiteDriverNode : public iri_base_driver::IriBaseNodeDriver<LidarLiteDriver>
+class LidarLiteDriverNode
+ : public iri_base_driver::IriBaseNodeDriver<LidarLiteDriver>
{
- private:
-
- int range_seq_; // Range publisher counter.
- std::string frame_id_; // publisher frame id.
-
- boost::thread Thread_; // Hardware reading thread.
- bool RunThread_; // Enables the hardware reading thread.
- void ThreadFunc(void); // Hardware reading thread function.
-
- // [publisher attributes]
- ros::Publisher range_publisher_;
- sensor_msgs::Range range_msg_;
-
- // [subscriber attributes]
-
- // [service attributes]
-
- // [client attributes]
-
- // [action server attributes]
-
- // [action client attributes]
-
- /**
- * \brief post open hook
- *
- * This function is called by IriBaseNodeDriver::postOpenHook(). In this function
- * specific parameters from the driver must be added so the ROS dynamic
- * reconfigure application can update them.
- */
- void postNodeOpenHook(void);
-
- public:
- /**
- * \brief constructor
- *
- * This constructor mainly creates and initializes the LidarLiteDriverNode topics
- * through the given public_node_handle object. IriBaseNodeDriver attributes
- * may be also modified to suit node specifications.
- *
- * All kind of ROS topics (publishers, subscribers, servers or clients) can
- * be easyly generated with the scripts in the iri_ros_scripts package. Refer
- * to ROS and IRI Wiki pages for more details:
- *
- * http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++)
- * http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++)
- * http://wikiri.upc.es/index.php/Robotics_Lab
- *
- * \param nh a reference to the node handle object to manage all ROS topics.
- */
- LidarLiteDriverNode(ros::NodeHandle& nh);
-
- /**
- * \brief Destructor
- *
- * This destructor is called when the object is about to be destroyed.
- *
- */
- ~LidarLiteDriverNode(void);
-
- protected:
- /**
- * \brief main node thread
- *
- * This is the main thread node function. Code written here will be executed
- * in every node loop while the driver is on running state. Loop frequency
- * can be tuned by modifying loop_rate attribute.
- *
- * Here data related to the process loop or to ROS topics (mainly data structs
- * related to the MSG and SRV files) must be updated. ROS publisher objects
- * must publish their data in this process. ROS client servers may also
- * request data to the corresponding server topics.
- */
- void mainNodeThread(void);
-
- // [diagnostic functions]
-
- /**
- * \brief node add diagnostics
- *
- * In this function ROS diagnostics applied to this specific node may be
- * added. Common use diagnostics for all nodes are already called from
- * IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information
- * of how ROS diagnostics work can be readen here:
- * http://www.ros.org/wiki/diagnostics/
- * http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html
- */
- void addNodeDiagnostics(void);
-
- // [driver test functions]
-
- /**
- * \brief open status driver tests
- *
- * In this function tests checking driver's functionallity when driver_base
- * status=open can be added. Common use tests for all nodes are already called
- * from IriBaseNodeDriver tests methods. For more details on how ROS tests work,
- * please refer to the Self Test example in:
- * http://www.ros.org/wiki/self_test/
- */
- void addNodeOpenedTests(void);
-
- /**
- * \brief stop status driver tests
- *
- * In this function tests checking driver's functionallity when driver_base
- * status=stop can be added. Common use tests for all nodes are already called
- * from IriBaseNodeDriver tests methods. For more details on how ROS tests work,
- * please refer to the Self Test example in:
- * http://www.ros.org/wiki/self_test/
- */
- void addNodeStoppedTests(void);
-
- /**
- * \brief run status driver tests
- *
- * In this function tests checking driver's functionallity when driver_base
- * status=run can be added. Common use tests for all nodes are already called
- * from IriBaseNodeDriver tests methods. For more details on how ROS tests work,
- * please refer to the Self Test example in:
- * http://www.ros.org/wiki/self_test/
- */
- void addNodeRunningTests(void);
-
- /**
- * \brief specific node dynamic reconfigure
- *
- * This function is called reconfigureHook()
- *
- * \param level integer
- */
- void reconfigureNodeHook(int level);
-
+private:
+ int range_seq_; // Range publisher counter.
+ std::string frame_id_; // publisher frame id.
+
+ boost::thread Thread_; // Hardware reading thread.
+ bool RunThread_; // Enables the hardware reading thread.
+ void ThreadFunc(void); // Hardware reading thread function.
+
+ // [publisher attributes]
+ ros::Publisher range_publisher_;
+ sensor_msgs::Range range_msg_;
+
+ // [subscriber attributes]
+
+ // [service attributes]
+
+ // [client attributes]
+
+ // [action server attributes]
+
+ // [action client attributes]
+
+ /**
+ * \brief post open hook
+ *
+ * This function is called by IriBaseNodeDriver::postOpenHook(). In this
+ * function
+ * specific parameters from the driver must be added so the ROS dynamic
+ * reconfigure application can update them.
+ */
+ void postNodeOpenHook(void);
+
+public:
+ /**
+ * \brief constructor
+ *
+ * This constructor mainly creates and initializes the LidarLiteDriverNode
+ * topics
+ * through the given public_node_handle object. IriBaseNodeDriver attributes
+ * may be also modified to suit node specifications.
+ *
+ * All kind of ROS topics (publishers, subscribers, servers or clients) can
+ * be easyly generated with the scripts in the iri_ros_scripts package. Refer
+ * to ROS and IRI Wiki pages for more details:
+ *
+ * http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++)
+ * http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++)
+ * http://wikiri.upc.es/index.php/Robotics_Lab
+ *
+ * \param nh a reference to the node handle object to manage all ROS topics.
+ */
+ LidarLiteDriverNode(ros::NodeHandle& nh);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~LidarLiteDriverNode(void);
+
+protected:
+ /**
+ * \brief main node thread
+ *
+ * This is the main thread node function. Code written here will be executed
+ * in every node loop while the driver is on running state. Loop frequency
+ * can be tuned by modifying loop_rate attribute.
+ *
+ * Here data related to the process loop or to ROS topics (mainly data structs
+ * related to the MSG and SRV files) must be updated. ROS publisher objects
+ * must publish their data in this process. ROS client servers may also
+ * request data to the corresponding server topics.
+ */
+ void mainNodeThread(void);
+
+ // [diagnostic functions]
+
+ /**
+ * \brief node add diagnostics
+ *
+ * In this function ROS diagnostics applied to this specific node may be
+ * added. Common use diagnostics for all nodes are already called from
+ * IriBaseNodeDriver::addDiagnostics(), which also calls this function.
+ * Information
+ * of how ROS diagnostics work can be readen here:
+ * http://www.ros.org/wiki/diagnostics/
+ * http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html
+ */
+ void addNodeDiagnostics(void);
+
+ // [driver test functions]
+
+ /**
+ * \brief open status driver tests
+ *
+ * In this function tests checking driver's functionallity when driver_base
+ * status=open can be added. Common use tests for all nodes are already called
+ * from IriBaseNodeDriver tests methods. For more details on how ROS tests
+ * work,
+ * please refer to the Self Test example in:
+ * http://www.ros.org/wiki/self_test/
+ */
+ void addNodeOpenedTests(void);
+
+ /**
+ * \brief stop status driver tests
+ *
+ * In this function tests checking driver's functionallity when driver_base
+ * status=stop can be added. Common use tests for all nodes are already called
+ * from IriBaseNodeDriver tests methods. For more details on how ROS tests
+ * work,
+ * please refer to the Self Test example in:
+ * http://www.ros.org/wiki/self_test/
+ */
+ void addNodeStoppedTests(void);
+
+ /**
+ * \brief run status driver tests
+ *
+ * In this function tests checking driver's functionallity when driver_base
+ * status=run can be added. Common use tests for all nodes are already called
+ * from IriBaseNodeDriver tests methods. For more details on how ROS tests
+ * work,
+ * please refer to the Self Test example in:
+ * http://www.ros.org/wiki/self_test/
+ */
+ void addNodeRunningTests(void);
+
+ /**
+ * \brief specific node dynamic reconfigure
+ *
+ * This function is called reconfigureHook()
+ *
+ * \param level integer
+ */
+ void reconfigureNodeHook(int level);
};
#endif
diff --git a/src/lidar_lite_driver.cpp b/src/lidar_lite_driver.cpp
index 7296454f21d6368721c23f0c704eeb756c9e1d10..a137c01d1d29c1a4a8ab7fc1291961c97b348fe8 100644
--- a/src/lidar_lite_driver.cpp
+++ b/src/lidar_lite_driver.cpp
@@ -7,60 +7,57 @@ LidarLiteDriver::LidarLiteDriver(void)
this->config_mode_ = 0;
}
-bool LidarLiteDriver::openDriver(void)
+bool
+LidarLiteDriver::openDriver(void)
{
- this->laser_ptr_ = new CLidarLite(this->serial_,this->config_mode_);
-
- try
- {
+ this->laser_ptr_ = new CLidarLite(this->serial_, this->config_mode_);
+
+ try {
this->laser_ptr_->open();
- }
- catch(CLidarLiteException &e)
- {
+ } catch (CLidarLiteException& e) {
std::cout << e.what() << std::endl;
}
return true;
}
-bool LidarLiteDriver::closeDriver(void)
+bool
+LidarLiteDriver::closeDriver(void)
{
- try
- {
+ try {
this->laser_ptr_->close();
- }
- catch(CLidarLiteException &e)
- {
+ } catch (CLidarLiteException& e) {
std::cout << e.what() << std::endl;
}
- if(this->laser_ptr_ != NULL)
- {
+ if (this->laser_ptr_ != NULL) {
this->laser_ptr_ = NULL;
delete this->laser_ptr_;
- }
+ }
return true;
}
-bool LidarLiteDriver::startDriver(void)
+bool
+LidarLiteDriver::startDriver(void)
{
return true;
}
-bool LidarLiteDriver::stopDriver(void)
+bool
+LidarLiteDriver::stopDriver(void)
{
return true;
}
-void LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
+void
+LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
{
this->lock();
-
+
// depending on current state
// update driver with new_cfg data
- switch(this->getState())
- {
+ switch (this->getState()) {
case LidarLiteDriver::CLOSED:
break;
@@ -71,12 +68,9 @@ void LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
this->config_mode_ = new_cfg.Config_mode;
- try
- {
+ try {
this->laser_ptr_->set_new_config(this->config_mode_);
- }
- catch(CLidarLiteException &e)
- {
+ } catch (CLidarLiteException& e) {
std::cout << e.what() << std::endl;
}
@@ -84,27 +78,26 @@ void LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
}
// save the current configuration
- this->config_=new_cfg;
+ this->config_ = new_cfg;
this->unlock();
}
-void LidarLiteDriver::setParams(const std::string &serial, const int &config_mode)
+void
+LidarLiteDriver::setParams(const std::string& serial, const int& config_mode)
{
this->serial_ = serial;
this->config_mode_ = config_mode;
}
-int LidarLiteDriver::getRange(void)
+int
+LidarLiteDriver::getRange(void)
{
int range;
- try
- {
+ try {
range = this->laser_ptr_->get_range(true);
- }
- catch(CLidarLiteException &e)
- {
+ } catch (CLidarLiteException& e) {
std::cout << e.what() << std::endl;
}
@@ -113,9 +106,8 @@ int LidarLiteDriver::getRange(void)
LidarLiteDriver::~LidarLiteDriver(void)
{
- if(this->laser_ptr_ != NULL)
- {
+ if (this->laser_ptr_ != NULL) {
this->laser_ptr_ = NULL;
delete this->laser_ptr_;
- }
+ }
}
diff --git a/src/lidar_lite_driver_node.cpp b/src/lidar_lite_driver_node.cpp
index 552b61372cda33091150aa05356a95f1967b9a8f..79ef6b4ef01feb75d375df49b537d7092d65bccc 100644
--- a/src/lidar_lite_driver_node.cpp
+++ b/src/lidar_lite_driver_node.cpp
@@ -2,67 +2,69 @@
#include <ctime>
-
-LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle &nh) :
- iri_base_driver::IriBaseNodeDriver<LidarLiteDriver>(nh),
- RunThread_(true),
- Thread_(boost::bind(&LidarLiteDriverNode::ThreadFunc, this))
+LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle& nh)
+ : iri_base_driver::IriBaseNodeDriver<LidarLiteDriver>(nh)
+ , RunThread_(true)
+ , Thread_(boost::bind(&LidarLiteDriverNode::ThreadFunc, this))
{
// this->loop_rate_ = 1000; // [Hz]
// Read from launch file
std::string serial;
int config_mode;
- this->public_node_handle_.param<std::string>("serial_num", serial, "A700evSl");
+ this->public_node_handle_.param<std::string>("serial_num", serial,
+ "A700evSl");
this->public_node_handle_.param<int>("config_mode", config_mode, 0);
- this->public_node_handle_.param<std::string>("frame_id", this->frame_id_, "lidar_lite");
+ this->public_node_handle_.param<std::string>("frame_id", this->frame_id_,
+ "lidar_lite");
// Set device parameters
- this->driver_.setParams(serial,config_mode);
+ this->driver_.setParams(serial, config_mode);
// [init publishers]
- this->range_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Range>("range", 100);
- this->range_seq_ = 0;
+ this->range_publisher_ =
+ this->public_node_handle_.advertise<sensor_msgs::Range>("range", 100);
+ this->range_seq_ = 0;
// [init subscribers]
-
+
// [init services]
-
+
// [init clients]
-
+
// [init action servers]
-
+
// [init action clients]
}
-void LidarLiteDriverNode::ThreadFunc(void)
+void
+LidarLiteDriverNode::ThreadFunc(void)
{
- while(this->RunThread_)
- {
- if (this->driver_.getState() == LidarLiteDriver::RUNNING)
- {
+ while (this->RunThread_) {
+ if (this->driver_.getState() == LidarLiteDriver::RUNNING) {
// Get measurement
this->driver_.lock();
int range = this->driver_.getRange();
this->driver_.unlock();
-
+
// Publish ROS message
this->range_msg_.header.seq = this->range_seq_;
this->range_msg_.header.stamp = ros::Time::now();
- this->range_msg_.header.frame_id = this->frame_id_;
+ this->range_msg_.header.frame_id = this->frame_id_;
this->range_msg_.field_of_view = 0.1;
this->range_msg_.min_range = 0;
this->range_msg_.max_range = 40;
this->range_msg_.range = range;
this->range_publisher_.publish(this->range_msg_);
-
+
// Increment range publisher counter.
++this->range_seq_;
}
}
}
-void LidarLiteDriverNode::mainNodeThread(void)
+void
+LidarLiteDriverNode::mainNodeThread(void)
{
/* code */
}
@@ -75,27 +77,33 @@ void LidarLiteDriverNode::mainNodeThread(void)
/* [action requests] */
-void LidarLiteDriverNode::postNodeOpenHook(void)
+void
+LidarLiteDriverNode::postNodeOpenHook(void)
{
}
-void LidarLiteDriverNode::addNodeDiagnostics(void)
+void
+LidarLiteDriverNode::addNodeDiagnostics(void)
{
}
-void LidarLiteDriverNode::addNodeOpenedTests(void)
+void
+LidarLiteDriverNode::addNodeOpenedTests(void)
{
}
-void LidarLiteDriverNode::addNodeStoppedTests(void)
+void
+LidarLiteDriverNode::addNodeStoppedTests(void)
{
}
-void LidarLiteDriverNode::addNodeRunningTests(void)
+void
+LidarLiteDriverNode::addNodeRunningTests(void)
{
}
-void LidarLiteDriverNode::reconfigureNodeHook(int level)
+void
+LidarLiteDriverNode::reconfigureNodeHook(int level)
{
}
@@ -107,7 +115,9 @@ LidarLiteDriverNode::~LidarLiteDriverNode(void)
}
/* main function */
-int main(int argc,char *argv[])
+int
+main(int argc, char* argv[])
{
- return driver_base::main<LidarLiteDriverNode>(argc, argv, "lidar_lite_driver_node");
+ return driver_base::main<LidarLiteDriverNode>(argc, argv,
+ "lidar_lite_driver_node");
}