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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 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_ */