localization2DServer: A localization server which can be wrap multiple algorithms and devices to provide robot in a 2D World. More...

#include <localization2DServer/Localization2DServer.h>

Inheritance diagram for Localization2DServer:

Public Member Functions
	Localization2DServer ()

virtual bool	open (yarp::os::Searchable &prop) override
	Open the DeviceDriver. More...

virtual bool	close () override
	Close the DeviceDriver. More...

virtual bool	detachAll () override
	Detach the object (you must have first called attach). More...

virtual bool	attachAll (const yarp::dev::PolyDriverList &l) override
	Attach to a list of objects. More...

virtual void	run () override
	Loop function. More...

bool	initialize_YARP (yarp::os::Searchable &config)

bool	initialize_ROS (yarp::os::Searchable &config)

virtual bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual Type	getReadType () const

Protected Attributes
bool	m_ros_publish_odometry_on_topic

bool	m_ros_publish_odometry_on_tf

std::string	m_local_name

yarp::os::Port	m_rpcPort

std::string	m_rpcPortName

yarp::os::BufferedPort< yarp::dev::Nav2D::Map2DLocation >	m_2DLocationPort

std::string	m_2DLocationPortName

yarp::os::BufferedPort< yarp::dev::OdometryData >	m_odometryPort

std::string	m_odometryPortName

std::string	m_robot_frame

std::string	m_fixed_frame

std::string	m_child_frame_id

std::string	m_parent_frame_id

yarp::os::Node *	m_ros_node

yarp::os::Publisher< yarp::rosmsg::nav_msgs::Odometry >	m_odometry_publisher

yarp::os::Publisher< yarp::rosmsg::tf2_msgs::TFMessage >	m_tf_publisher

yarp::dev::PolyDriver	pLoc

yarp::dev::Nav2D::ILocalization2D *	iLoc

double	m_stats_time_last

double	m_period

yarp::os::Stamp	m_loc_stamp

yarp::os::Stamp	m_odom_stamp

bool	m_getdata_using_periodic_thread

yarp::dev::OdometryData	m_current_odometry

yarp::dev::Nav2D::Map2DLocation	m_current_position

yarp::dev::Nav2D::LocalizationStatusEnum	m_current_status

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

localization2DServer: A localization server which can be wrap multiple algorithms and devices to provide robot in a 2D World.

Localization2DServer

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
GENERAL	period	double	s	0.01	No	The period of the working thread
GENERAL	retrieve_position_periodically	bool	-	true	No	If true, the subdevice is asked periodically to retrieve the current location. Otherwise the current location is obtained asynchronously when a getCurrentPosition() command is issued.	-
GENERAL	name	string	-	/localizationServer	No	The name of the server, used as a prefix for the opened ports	By default ports opened are /localizationServer/rpc and /localizationServer/streaming:o
subdevice	-	string	-	-	Yes	The name of the of Localization device to be used	-
ROS	publish_tf	bool	-	false	No	If true, odometry data will be published on global ROS /tf topic	-
ROS	publish_odom	bool	-	false	No	If true, odometry data will be published on a user-defined ROS topic	The default name of the topic is built as: name+"/odom"

Definition at line 59 of file Localization2DServer.h.

Constructor & Destructor Documentation

◆ Localization2DServer()

Localization2DServer::Localization2DServer ( )

Definition at line 55 of file Localization2DServer.cpp.

Member Function Documentation

◆ attachAll()

bool Localization2DServer::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Attach to a list of objects.

Parameters

p	the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 67 of file Localization2DServer.cpp.

◆ close()

bool Localization2DServer::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 302 of file Localization2DServer.cpp.

◆ detachAll()

bool Localization2DServer::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 108 of file Localization2DServer.cpp.

◆ initialize_ROS()

bool Localization2DServer::initialize_ROS ( yarp::os::Searchable & config )

Definition at line 213 of file Localization2DServer.cpp.

◆ initialize_YARP()

bool Localization2DServer::initialize_YARP ( yarp::os::Searchable & config )

Definition at line 278 of file Localization2DServer.cpp.

◆ open()

bool Localization2DServer::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 118 of file Localization2DServer.cpp.

◆ read()

bool Localization2DServer::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 331 of file Localization2DServer.cpp.

◆ run()

void Localization2DServer::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 503 of file Localization2DServer.cpp.

Member Data Documentation

◆ iLoc

yarp::dev::Nav2D::ILocalization2D* Localization2DServer::iLoc

protected

Definition at line 91 of file Localization2DServer.h.

◆ m_2DLocationPort

yarp::os::BufferedPort<yarp::dev::Nav2D::Map2DLocation> Localization2DServer::m_2DLocationPort

protected

Definition at line 75 of file Localization2DServer.h.

◆ m_2DLocationPortName

std::string Localization2DServer::m_2DLocationPortName

protected

Definition at line 76 of file Localization2DServer.h.

◆ m_child_frame_id

std::string Localization2DServer::m_child_frame_id

protected

Definition at line 83 of file Localization2DServer.h.

◆ m_current_odometry

yarp::dev::OdometryData Localization2DServer::m_current_odometry

protected

Definition at line 99 of file Localization2DServer.h.

◆ m_current_position

yarp::dev::Nav2D::Map2DLocation Localization2DServer::m_current_position

protected

Definition at line 100 of file Localization2DServer.h.

◆ m_current_status

yarp::dev::Nav2D::LocalizationStatusEnum Localization2DServer::m_current_status

protected

Definition at line 101 of file Localization2DServer.h.

◆ m_fixed_frame

std::string Localization2DServer::m_fixed_frame

protected

Definition at line 80 of file Localization2DServer.h.

◆ m_getdata_using_periodic_thread

bool Localization2DServer::m_getdata_using_periodic_thread

protected

Definition at line 97 of file Localization2DServer.h.

◆ m_loc_stamp

yarp::os::Stamp Localization2DServer::m_loc_stamp

protected

Definition at line 95 of file Localization2DServer.h.

◆ m_local_name

std::string Localization2DServer::m_local_name

protected

Definition at line 72 of file Localization2DServer.h.

◆ m_odom_stamp

yarp::os::Stamp Localization2DServer::m_odom_stamp

protected

Definition at line 96 of file Localization2DServer.h.

◆ m_odometry_publisher

yarp::os::Publisher<yarp::rosmsg::nav_msgs::Odometry> Localization2DServer::m_odometry_publisher

protected

Definition at line 86 of file Localization2DServer.h.

◆ m_odometryPort

yarp::os::BufferedPort<yarp::dev::OdometryData> Localization2DServer::m_odometryPort

protected

Definition at line 77 of file Localization2DServer.h.

◆ m_odometryPortName

std::string Localization2DServer::m_odometryPortName

protected

Definition at line 78 of file Localization2DServer.h.

◆ m_parent_frame_id

std::string Localization2DServer::m_parent_frame_id

protected

Definition at line 84 of file Localization2DServer.h.

◆ m_period

double Localization2DServer::m_period

protected

Definition at line 94 of file Localization2DServer.h.

◆ m_robot_frame

std::string Localization2DServer::m_robot_frame

protected

Definition at line 79 of file Localization2DServer.h.

◆ m_ros_node

yarp::os::Node* Localization2DServer::m_ros_node

protected

Definition at line 85 of file Localization2DServer.h.

◆ m_ros_publish_odometry_on_tf

bool Localization2DServer::m_ros_publish_odometry_on_tf

protected

Definition at line 69 of file Localization2DServer.h.

◆ m_ros_publish_odometry_on_topic

bool Localization2DServer::m_ros_publish_odometry_on_topic

protected

Definition at line 68 of file Localization2DServer.h.

◆ m_rpcPort

yarp::os::Port Localization2DServer::m_rpcPort

protected

Definition at line 73 of file Localization2DServer.h.

◆ m_rpcPortName

std::string Localization2DServer::m_rpcPortName

protected

Definition at line 74 of file Localization2DServer.h.

◆ m_stats_time_last

double Localization2DServer::m_stats_time_last

protected

Definition at line 93 of file Localization2DServer.h.

◆ m_tf_publisher

yarp::os::Publisher<yarp::rosmsg::tf2_msgs::TFMessage> Localization2DServer::m_tf_publisher

protected

Definition at line 87 of file Localization2DServer.h.

◆ pLoc

yarp::dev::PolyDriver Localization2DServer::pLoc

protected

Definition at line 90 of file Localization2DServer.h.

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

src/devices/localization2DServer/Localization2DServer.h
src/devices/localization2DServer/Localization2DServer.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Localization2DServer

Constructor & Destructor Documentation

◆ Localization2DServer()

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ initialize_ROS()

◆ initialize_YARP()

◆ open()

◆ read()

◆ run()

Member Data Documentation

◆ iLoc

◆ m_2DLocationPort

◆ m_2DLocationPortName

◆ m_child_frame_id

◆ m_current_odometry

◆ m_current_position

◆ m_current_status

◆ m_fixed_frame

◆ m_getdata_using_periodic_thread

◆ m_loc_stamp

◆ m_local_name

◆ m_odom_stamp

◆ m_odometry_publisher

◆ m_odometryPort

◆ m_odometryPortName

◆ m_parent_frame_id

◆ m_period

◆ m_robot_frame

◆ m_ros_node

◆ m_ros_publish_odometry_on_tf

◆ m_ros_publish_odometry_on_topic

◆ m_rpcPort

◆ m_rpcPortName

◆ m_stats_time_last

◆ m_tf_publisher

◆ pLoc