Safeties
Public Functions
| Name | |
|---|---|
| Safeties(ros::NodeHandle & nh) Innerloops safeties constructor. |
|
| virtual | ~Safeties() Innerloops safeties Destructor. |
| void | loadParams(ros::NodeHandle & nh) Method to read parameters from yaml files. |
| void | initializeSubscribers(ros::NodeHandle & nh) Method to initialize subscribers. |
| void | initializePublishers(ros::NodeHandle & nh) Method to initialize publishers. |
| void | depthSafetyCallback(const std_msgs::Float64 & msg) Method called when a depth reference is received. Will check safeties regarding altitude: if valid will publish in the depth controller topic the desired reference, otherwise will publish the minimum altitude in the altitude controller. |
| void | altitudeSafetyCallback(const std_msgs::Float64 & msg) Method called when a altitude reference is received. Will check safeties regarding altitude: if above the minimum altitude will publish the desired reference, otherwise will publish the minimum altitude. |
| void | stateCallback(const auv_msgs::NavigationStatus & msg) Method called when a state msg is received. Updates depth and altitude values to calculate the water collumn needed for depth safeties. |
Public Functions Documentation
function Safeties
Safeties(
ros::NodeHandle & nh
)
Innerloops safeties constructor.
Parameters:
- nh ros nodehandle to subscribe and publish topics
function ~Safeties
virtual ~Safeties()
Innerloops safeties Destructor.
function loadParams
void loadParams(
ros::NodeHandle & nh
)
Method to read parameters from yaml files.
Parameters:
- nh ros nodehandle to subscribe and publish topics
function initializeSubscribers
void initializeSubscribers(
ros::NodeHandle & nh
)
Method to initialize subscribers.
Parameters:
- nh ros nodehandle to subscribe and publish topics
function initializePublishers
void initializePublishers(
ros::NodeHandle & nh
)
Method to initialize publishers.
Parameters:
- nh ros nodehandle to subscribe and publish topics
function depthSafetyCallback
void depthSafetyCallback(
const std_msgs::Float64 & msg
)
Method called when a depth reference is received. Will check safeties regarding altitude: if valid will publish in the depth controller topic the desired reference, otherwise will publish the minimum altitude in the altitude controller.
Parameters:
- msg Desired depth
function altitudeSafetyCallback
void altitudeSafetyCallback(
const std_msgs::Float64 & msg
)
Method called when a altitude reference is received. Will check safeties regarding altitude: if above the minimum altitude will publish the desired reference, otherwise will publish the minimum altitude.
Parameters:
- msg Desired altitude
function stateCallback
void stateCallback(
const auv_msgs::NavigationStatus & msg
)
Method called when a state msg is received. Updates depth and altitude values to calculate the water collumn needed for depth safeties.
Parameters:
- msg Vehicles state
Updated on 2022-09-15 at 17:51:30 +0000