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00001 /* 00002 * Copyright (c) 2009, Ingo Kresse <kresse@in.tum.de> 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 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 00061 #include <unistd.h> 00062 #include <math.h> 00063 00064 #include "ros/ros.h" 00065 00066 00067 #include "tf/transform_listener.h" 00068 00069 00070 // The messages that we'll use 00071 //#include <nav_robot_actions/MoveBaseState.h> 00072 #include <geometry_msgs/PoseStamped.h> 00073 #include <geometry_msgs/Twist.h> 00074 #include <std_msgs/String.h> 00075 00076 #include <sensor_msgs/LaserScan.h> 00077 00078 #include "BaseDistance.h" 00079 00080 class SpeedFilter { 00081 private: 00082 BaseDistance dist_control_; 00083 00084 ros::NodeHandle n_; 00085 ros::Publisher pub_vel_; 00086 ros::Subscriber sub_vel_; 00087 00088 void input_vel(const geometry_msgs::Twist::ConstPtr& msg); 00089 00090 public: 00091 SpeedFilter(); 00092 }; 00093 00094 void SpeedFilter::input_vel(const geometry_msgs::Twist::ConstPtr& msg) 00095 { 00096 geometry_msgs::Twist t = *msg; 00097 00098 dist_control_.compute_distance_keeping(&(t.linear.x), &(t.linear.y), &(t.angular.z)); 00099 pub_vel_.publish(t); 00100 } 00101 00102 00103 SpeedFilter::SpeedFilter() : n_("~") 00104 { 00105 sub_vel_ = n_.subscribe("/input_vel", 1, &SpeedFilter::input_vel, this); 00106 pub_vel_ = n_.advertise<geometry_msgs::Twist>("/cmd_vel", 1); 00107 00108 //CHANGED 00109 // dist_control_.setFootprint(0.42, -0.3075, 0.3075, -0.42, 0.0); 00110 double front, rear, left, right, tolerance; 00111 n_.param("footprint/left", left, 0.309); 00112 n_.param("footprint/right", right, -0.309); 00113 n_.param("footprint/front", front, 0.43); 00114 n_.param("footprint/rear", rear, -0.43); 00115 n_.param("footprint/tolerance", tolerance, 0.0); 00116 dist_control_.setFootprint(front, rear, left, right, tolerance); 00117 } 00118 00119 int main(int argc, char *argv[]) 00120 { 00121 ros::init(argc, argv, "speed_filter"); 00122 00123 SpeedFilter sf; 00124 00125 ros::spin(); 00126 00127 return 0; 00128 }