Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots: [911] pkg/trunk
|
From: <is...@us...> - 2008-06-24 01:46:22
|
Revision: 911
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=911&view=rev
Author: isucan
Date: 2008-06-23 18:46:30 -0700 (Mon, 23 Jun 2008)
Log Message:
-----------
added documentation to my packages
Modified Paths:
--------------
pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp
pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
pkg/trunk/motion_planning/test_kinematic_planning/src/test_kinematic_planning.cpp
Modified: pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp
===================================================================
--- pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp 2008-06-24 00:40:09 UTC (rev 910)
+++ pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp 2008-06-24 01:46:30 UTC (rev 911)
@@ -38,10 +38,47 @@
@htmlinclude manifest.html
-@b World3dMap is a node capable of building 3D maps out of point
+@b world_3d_map is a node capable of building 3D maps out of point
cloud data. The code is incomplete: it currently only forwards cloud
data.
+<hr>
+
+@section usage Usage
+@verbatim
+$ world_3d_map [standard ROS args]
+@endverbatim
+
+@par Example
+
+@verbatim
+$ world_3d_map
+@endverbatim
+
+<hr>
+
+@section topic ROS topics
+
+Subscribes to (name/type):
+- full_cloud/PointCloudFloat32 : point cloud with data from a complete laser scan (top to bottom)
+
+Publishes to (name/type):
+- @b "world_3d_map"/PointCloudFloat32 : point cloud describing the 3D environment
+- @b "roserr"/Log : output log messages
+
+<hr>
+
+Uses (name/type):
+- None
+
+Provides (name/type):
+- None
+
+<hr>
+
+@section parameters ROS parameters
+- @b "world_3d_map/max_publish_frequency" : @b [double] the maximum frequency (Hz) at which the data in the built 3D map is to be sent (default 0.5)
+
**/
#include "ros/node.h"
@@ -53,20 +90,18 @@
using namespace std_msgs;
using namespace ros::thread::member_thread;
-static const char MAP_PUBLISH_TOPIC[] = "world_3d_map";
-
class World3DMap : public ros::node
{
public:
- World3DMap(void) : ros::node("World3DMap")
+ World3DMap(void) : ros::node("world_3d_map")
{
- advertise<PointCloudFloat32>(MAP_PUBLISH_TOPIC);
+ advertise<PointCloudFloat32>("world_3d_map");
advertise<Log>("roserr");
// subscribe to stereo vision point cloud as well... when it becomes available
subscribe("full_cloud", inputCloud, &World3DMap::pointCloudCallback);
- param((string(MAP_PUBLISH_TOPIC)+"/max_publish_frequency").c_str(), maxPublishFrequency, 0.5);
+ param("world_3d_map/max_publish_frequency", maxPublishFrequency, 0.5);
/* create a thread that does the processing of the input data.
* and one that handles the publishing of the data */
@@ -162,7 +197,7 @@
{
worldDataMutex.lock();
if (active)
- publish(MAP_PUBLISH_TOPIC, toProcess);
+ publish("world_3d_map", toProcess);
shouldPublish = false;
worldDataMutex.unlock();
}
Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp 2008-06-24 00:40:09 UTC (rev 910)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp 2008-06-24 01:46:30 UTC (rev 911)
@@ -41,6 +41,44 @@
@b KinematicPlanning is a node capable of planning kinematic paths for
a set of robot models.
+<hr>
+
+@section usage Usage
+@verbatim
+$ kinematic_planning [standard ROS args]
+@endverbatim
+
+@par Example
+
+@verbatim
+$ kinematic_planning
+@endverbatim
+
+<hr>
+
+@section topic ROS topics
+
+Subscribes to (name/type):
+- world_3d_map/PointCloudFloat32 : point cloud with data describing the 3D environment
+
+Publishes to (name/type):
+- None
+
+<hr>
+
+@section services ROS services
+
+Uses (name/type):
+- None
+
+Provides (name/type):
+- @b "plan_kinematic_path"/KinematicMotionPlan : given a robot model, starting ang goal states, this service computes a collision free path
+
+<hr>
+
+@section parameters ROS parameters
+- None
+
**/
#include "ros/node.h"
@@ -59,7 +97,7 @@
{
public:
- KinematicPlanning(void) : ros::node("KinematicPlanning")
+ KinematicPlanning(void) : ros::node("kinematic_planning")
{
advertise_service("plan_kinematic_path", &KinematicPlanning::plan);
subscribe("world_3d_map", cloud, &KinematicPlanning::pointCloudCallback);
Modified: pkg/trunk/motion_planning/test_kinematic_planning/src/test_kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/test_kinematic_planning/src/test_kinematic_planning.cpp 2008-06-24 00:40:09 UTC (rev 910)
+++ pkg/trunk/motion_planning/test_kinematic_planning/src/test_kinematic_planning.cpp 2008-06-24 01:46:30 UTC (rev 911)
@@ -38,9 +38,49 @@
@htmlinclude manifest.html
-@b TestKinematicPlanning is a node that can be used to test a
+@b test_kinematic_planning is a node that can be used to test a
kinematic planning node.
+<hr>
+
+@section usage Usage
+@verbatim
+$ test_kinematic_planning [standard ROS args]
+@endverbatim
+
+@par Example
+
+@verbatim
+$ test_kinematic_planning
+@endverbatim
+
+<hr>
+
+@section topic ROS topics
+
+Subscribes to (name/type):
+- None
+
+Publishes to (name/type):
+- @b "cmd_leftarmconfig"/PR2Arm : issue joint angle commands to the left arm
+- @b "cmd_rightarmconfig"/PR2Arm : issue joint angle commands to the right arm
+
+<hr>
+
+@section services ROS services
+
+Uses (name/type):
+- @b "plan_kinematic_path"/KinematicMotionPlan : given a robot model, starting ang goal states, this service computes a collision free path
+
+Provides (name/type):
+- None
+
+<hr>
+
+@section parameters ROS parameters
+- None
+
+
**/
#include "ros/node.h"
@@ -57,7 +97,7 @@
{
public:
- TestKinematicPlanning(void) : ros::node("TestKinematicPlanning")
+ TestKinematicPlanning(void) : ros::node("test_kinematic_planning")
{
advertise<PR2Arm>("cmd_leftarmconfig");
advertise<PR2Arm>("cmd_rightarmconfig");
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
