RemoteControllerNode::RemoteControllerNode

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Public Functions

	Name
def	init(self self)
def	timerCallback(self self, event event)
def	initializeTimer(self self)
def	initializeSubscribers(self self)
def	initializePublishers(self self)
def	initializeJoystick(self self)
def	state_callback(self self, msg msg)

Public Attributes

	Name
	node_frequency
	h_timerActivate
	yaw_state_
	timer
	state_sub
	surge_pub
	sway_pub
	heave_pub
	yaw_rate_pub
	yaw_pub
	depth_pub
	control_assignment

Detailed Description

class RemoteControllerNode::RemoteControllerNode;

Remote controller ROS node class. Receives from a joystick (using pygame) the desired controls for
the inner-loops and publishes these periodically (at a pre-defined frequency) to the inner-loops of the
vehicle

Public Functions Documentation

function init

def __init__(
    self self
)

Class constructor. Initializes the ros node, loads the parameters from the ros parameter server, creates the inner-loops
publishers and initializes the timer that publishes the desired inputs to the inner-loops

function timerCallback

def timerCallback(
    self self,
    event event
)

Callback used to publish to the inner-loops the desired control inputs
:param event: A timer event - unused but required by the ROS API

function initializeTimer

def initializeTimer(
    self self
)

Method that starts the system timer that periodically calls a callback

function initializeSubscribers

def initializeSubscribers(
    self self
)

Method that initializes the ROS subscribers (to receive the current state of the AUV)

function initializePublishers

def initializePublishers(
    self self
)

Method that initializes the ROS publishers (to publish the references for the inner-loops)

function initializeJoystick

def initializeJoystick(
    self self
)

Method that initializes the joystick driver (using pygame)

function state_callback

def state_callback(
    self self,
    msg msg
)

Callback that is called when a message with the current state of the AUV is received.
Currently only the yaw orientation is saved (used to switch between yaw and yaw-rate controllers)
:param msg: NavigationStatus message

Public Attributes Documentation

variable node_frequency

node_frequency;

variable h_timerActivate

h_timerActivate;

variable yaw_state_

yaw_state_;

variable timer

timer;

variable state_sub

state_sub;

variable surge_pub

surge_pub;

variable sway_pub

sway_pub;

variable heave_pub

heave_pub;

variable yaw_rate_pub

yaw_rate_pub;

variable yaw_pub

yaw_pub;

variable depth_pub

depth_pub;

variable control_assignment

control_assignment;

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Updated on 2022-09-15 at 17:51:31 +0000

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Last update: September 15, 2022