travesim::ros_side::TeamsSender Class Reference

#include "teams_sender.hpp"

Collaboration diagram for travesim::ros_side::TeamsSender:

Public Member Functions
	TeamsSender (TeamsFormation teams_formation=TeamsFormation::THREE_ROBOTS_PER_TEAM)
	Construct a new Teams Sender object. More...
void	send (TeamCommand *yellow_team_command, TeamCommand *blue_team_command)
	Send the stored commands to Gazebo controllers. More...

Private Attributes
std::vector< robot_command_pub_t >	yellow_pubs
	Yellow team ROS publishers. More...
std::vector< robot_command_pub_t >	blue_pubs
	Blue team ROS publishers. More...
uint8_t	robots_per_team

Detailed Description

Definition at line 37 of file teams_sender.hpp.

Constructor & Destructor Documentation

TeamsSender()

travesim::ros_side::TeamsSender::TeamsSender

(

TeamsFormation

teams_formation = TeamsFormation::THREE_ROBOTS_PER_TEAM

)

Construct a new Teams Sender object.

Parameters

teams_formation

Number of robots per team, default is 3

Definition at line 39 of file teams_sender.cpp.

                                                       : robots_per_team(teams_formation) {
    ros::NodeHandle nh;

    this->yellow_pubs = std::vector<robot_command_pub_t>(this->robots_per_team);
    this->blue_pubs = std::vector<robot_command_pub_t>(this->robots_per_team);

    for (uint8_t i = 0; i < this->robots_per_team; i++) {
        this->yellow_pubs[i] = {
            .left = nh.advertise<std_msgs::Float64>(ROBOT_WHEEL_TOPIC("yellow", i, "left"), BUFFER_SIZE),
            .right = nh.advertise<std_msgs::Float64>(ROBOT_WHEEL_TOPIC("yellow", i, "right"), BUFFER_SIZE)
        };

        this->blue_pubs[i] = {
            .left = nh.advertise<std_msgs::Float64>(ROBOT_WHEEL_TOPIC("blue", i, "left"), BUFFER_SIZE),
            .right = nh.advertise<std_msgs::Float64>(ROBOT_WHEEL_TOPIC("blue", i, "right"), BUFFER_SIZE)
        };
    }
}

References blue_pubs, BUFFER_SIZE, ROBOT_WHEEL_TOPIC, robots_per_team, and yellow_pubs.

Member Function Documentation

send()

void travesim::ros_side::TeamsSender::send	(	TeamCommand *	yellow_team_command,
		TeamCommand *	blue_team_command
	)

Send the stored commands to Gazebo controllers.

Definition at line 58 of file teams_sender.cpp.

                                                                                       {
    std_msgs::Float64 yellow_left_msg, yellow_right_msg;
    std_msgs::Float64 blue_left_msg, blue_right_msg;

    for (uint8_t i = 0; i < this->robots_per_team; i++) {
        yellow_left_msg.data = yellow_team_command->robot_command[i].left_speed;
        yellow_right_msg.data = yellow_team_command->robot_command[i].right_speed;

        blue_left_msg.data = blue_team_command->robot_command[i].left_speed;
        blue_right_msg.data = blue_team_command->robot_command[i].right_speed;

        this->yellow_pubs[i].left.publish(yellow_left_msg);
        this->yellow_pubs[i].right.publish(yellow_right_msg);

        this->blue_pubs[i].left.publish(blue_left_msg);
        this->blue_pubs[i].right.publish(blue_right_msg);
    }
}

References blue_pubs, travesim::TeamCommand::robot_command, robots_per_team, and yellow_pubs.

Here is the caller graph for this function:

Member Data Documentation

blue_pubs

std::vector<robot_command_pub_t> travesim::ros_side::TeamsSender::blue_pubs

private

Blue team ROS publishers.

Definition at line 49 of file teams_sender.hpp.

robots_per_team

uint8_t travesim::ros_side::TeamsSender::robots_per_team

private

Definition at line 51 of file teams_sender.hpp.

yellow_pubs

std::vector<robot_command_pub_t> travesim::ros_side::TeamsSender::yellow_pubs

private

Yellow team ROS publishers.

Definition at line 43 of file teams_sender.hpp.

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

• include/travesim_adapters/ros/teams_sender.hpp
• src/lib/ros/teams_sender.cpp