$search
00001 //================================================================================================= 00002 // Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 00030 #include "ros/ros.h" 00031 #include <hector_path_follower/hector_path_follower.h> 00032 #include <hector_nav_msgs/GetRobotTrajectory.h> 00033 00034 class SimpleExplorationController 00035 { 00036 public: 00037 SimpleExplorationController() 00038 { 00039 ros::NodeHandle nh; 00040 00041 exploration_plan_service_client_ = nh.serviceClient<hector_nav_msgs::GetRobotTrajectory>("get_exploration_path"); 00042 00043 path_follower_.initialize(&tfl_); 00044 00045 exploration_plan_generation_timer_ = nh.createTimer(ros::Duration(15.0), &SimpleExplorationController::timerPlanExploration, this, false ); 00046 cmd_vel_generator_timer_ = nh.createTimer(ros::Duration(0.1), &SimpleExplorationController::timerCmdVelGeneration, this, false ); 00047 00048 vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 10); 00049 00050 } 00051 00052 void timerPlanExploration(const ros::TimerEvent& e) 00053 { 00054 hector_nav_msgs::GetRobotTrajectory srv_exploration_plan; 00055 00056 if (exploration_plan_service_client_.call(srv_exploration_plan)){ 00057 ROS_INFO("Generated exploration path with %u poses", (unsigned int)srv_exploration_plan.response.trajectory.poses.size()); 00058 path_follower_.setPlan(srv_exploration_plan.response.trajectory.poses); 00059 }else{ 00060 ROS_WARN("Service call for exploration service failed"); 00061 } 00062 } 00063 00064 void timerCmdVelGeneration(const ros::TimerEvent& e) 00065 { 00066 geometry_msgs::Twist twist; 00067 path_follower_.computeVelocityCommands(twist); 00068 vel_pub_.publish(twist); 00069 } 00070 00071 00072 protected: 00073 ros::ServiceClient exploration_plan_service_client_; 00074 ros::Publisher vel_pub_; 00075 00076 tf::TransformListener tfl_; 00077 00078 pose_follower::HectorPathFollower path_follower_; 00079 00080 ros::Timer exploration_plan_generation_timer_; 00081 ros::Timer cmd_vel_generator_timer_; 00082 }; 00083 00084 int main(int argc, char **argv) { 00085 ros::init(argc, argv, ROS_PACKAGE_NAME); 00086 00087 SimpleExplorationController ec; 00088 00089 ros::spin(); 00090 00091 return 0; 00092 }