simple_robot_control: base_control.h Source File

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00036 
00037 /*
00038  * simple_base_control.h
00039  *
00040  *  Created on: Sep 20, 2010
00041  *      Author: has2pal
00042  */
00043 
00044 #ifndef SIMPLE_BASE_CONTROL_H_
00045 #define SIMPLE_BASE_CONTROL_H_
00046 
00047 #include <cmath>
00048 
00049 #include <ros/ros.h>
00050 #include <geometry_msgs/Twist.h>
00051 #include <tf/transform_listener.h>
00052 
00053 
00054 namespace simple_robot_control{
00055 
00056 class Base {
00057 private:
00058         ros::NodeHandle nh_;
00059 
00060         geometry_msgs::Twist cmd_;
00061         ros::Publisher pub_base_vel_;
00062         tf::TransformListener tf_listener_odom_;
00063 
00064         static const double PUBLISH_RATE_ = 20.0;
00065 
00066         void init();
00067 
00068 public:
00069         Base();
00070         virtual ~Base();
00071 
00072         // Drive forward a specified distance in m with given speed in m/s
00073         bool driveForward(double distance, double speed = 0.25);
00074 
00075         // Drive right a specified distance in m with given speed in m/s
00076         bool driveRight(double distance, double speed = 0.25);
00077 
00078         // Drive back a specified distance in m with given speed in m/s
00079         bool driveBack(double distance, double speed = 0.25);
00080 
00081         // Drive left a specified distance in m with given speed in m/s
00082         bool driveLeft(double distance, double speed = 0.25);
00083 
00084         // Drive a specified distance (based on base odometry information) with given velocity Twist (vector)
00085         bool drive(double distance, const geometry_msgs::Twist& velocity);
00086 
00087         // Rotate as specified in rad (based on base odometry information) with given speed in rad/s
00088         bool turn(bool clockwise, double radians, double speed = 0.75);
00089 };
00090 
00091 }
00092 #endif /* SIMPLE_BASE_CONTROL_H_ */