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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeusen */ 00036 00037 #ifndef MOVE_BASE_OMNIDIRECTIONAL_H 00038 #define MOVE_BASE_OMNIDIRECTIONAL_H 00039 00040 #include <ros/ros.h> 00041 #include <tf/tf.h> 00042 #include <tf/transform_listener.h> 00043 #include <actionlib/server/simple_action_server.h> 00044 #include <costmap_2d/costmap_2d_ros.h> 00045 #include <costmap_2d/costmap_2d.h> 00046 #include <base_local_planner/costmap_model.h> 00047 #include <geometry_msgs/Point.h> 00048 #include <move_base_msgs/MoveBaseAction.h> 00049 00050 00051 namespace pr2_plugs_actions{ 00052 00053 00054 class MoveBaseOmnidirectionalAction 00055 { 00056 public: 00057 MoveBaseOmnidirectionalAction(); 00058 ~MoveBaseOmnidirectionalAction(); 00059 00060 void execute(const move_base_msgs::MoveBaseGoalConstPtr& goal); 00061 00062 private: 00063 void lockWheels(); 00064 geometry_msgs::Twist diff2D(const tf::Pose& pose1, const tf::Pose& pose2); 00065 geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist); 00066 std::vector<geometry_msgs::Point> getOrientedFootprint(const tf::Vector3 pos, double theta_cost); 00067 00068 tf::TransformListener tf_; 00069 costmap_2d::Costmap2DROS costmap_ros_; 00070 costmap_2d::Costmap2D costmap_; 00071 base_local_planner::CostmapModel costmap_model_; 00072 ros::Publisher base_pub_; 00073 double K_trans, K_rot, tolerance_trans, tolerance_rot; 00074 00075 actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> action_server_; 00076 std::vector<geometry_msgs::Point> footprint_; 00077 }; 00078 00079 } 00080 00081 #endif