IRI ROS Specific Algorithm Class. More...

#include <dabo_coop_alg_node.h>

Inheritance diagram for DaboCoopAlgNode:

Public Member Functions
	DaboCoopAlgNode (void)
	Constructor.
	~DaboCoopAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	car_dabo_actionGetFeedbackCallback (tibi_dabo_msgs::guiFeedbackPtr &feedback)
void	car_dabo_actionGetResultCallback (tibi_dabo_msgs::guiResultPtr &result)
bool	car_dabo_actionHasSucceedCallback (void)
bool	car_dabo_actionIsFinishedCallback (void)
void	car_dabo_actionStartCallback (const tibi_dabo_msgs::guiGoalConstPtr &goal)
void	car_dabo_actionStopCallback (void)
void	dabo_car_actionActive ()
void	dabo_car_actionDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::guiResultConstPtr &result)
void	dabo_car_actionFeedback (const tibi_dabo_msgs::guiFeedbackConstPtr &feedback)
bool	dabo_car_actionMakeActionRequest ()
void	dabo_tibi_actionActive ()
void	dabo_tibi_actionDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::guiResultConstPtr &result)
void	dabo_tibi_actionFeedback (const tibi_dabo_msgs::guiFeedbackConstPtr &feedback)
bool	dabo_tibi_actionMakeActionRequest ()
void	gui_action_clientActive ()
void	gui_action_clientDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::guiResultConstPtr &result)
void	gui_action_clientFeedback (const tibi_dabo_msgs::guiFeedbackConstPtr &feedback)
void	gui_action_clientMakeActionRequest ()
void	gui_actionGetFeedbackCallback (tibi_dabo_msgs::guiFeedbackPtr &feedback)
void	gui_actionGetResultCallback (tibi_dabo_msgs::guiResultPtr &result)
bool	gui_actionHasSucceedCallback (void)
bool	gui_actionIsFinishedCallback (void)
void	gui_actionStartCallback (const tibi_dabo_msgs::guiGoalConstPtr &goal)
void	gui_actionStopCallback (void)
void	hri_clientActive ()
void	hri_clientDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hri_clientFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
bool	hri_clientMakeActionRequest ()
void	move_baseActive ()
void	move_baseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	move_baseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
bool	move_baseMakeActionRequest ()
void	supervisor_callback (const sensor_msgs::Joy::ConstPtr &msg)
Private Attributes
dabo_cmds	car_cmd
IriActionServer < tibi_dabo_msgs::guiAction >	car_dabo_action_aserver_
bool	car_done
std::string	car_location_id
dabo_states	current_state
actionlib::SimpleActionClient < tibi_dabo_msgs::guiAction >	dabo_car_action_client_
bool	dabo_car_action_done
tibi_dabo_msgs::guiGoal	dabo_car_action_goal_
actionlib::SimpleActionClient < tibi_dabo_msgs::guiAction >	dabo_tibi_action_client_
bool	dabo_tibi_action_done
tibi_dabo_msgs::guiGoal	dabo_tibi_action_goal_
ros::ServiceClient	get_goal_client_
iri_goal_database::get_goal	get_goal_srv_
IriActionServer < tibi_dabo_msgs::guiAction >	gui_action_aserver_
actionlib::SimpleActionClient < tibi_dabo_msgs::guiAction >	gui_action_client_client_
tibi_dabo_msgs::guiGoal	gui_action_client_goal_
gui_cmds	gui_cmd
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_client_
bool	hri_client_done
tibi_dabo_msgs::sequenceGoal	hri_client_goal_
joy_cmds	joy_cmd
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
bool	move_base_done
move_base_msgs::MoveBaseGoal	move_base_goal_
bool	new_car_cmd
bool	new_gui_cmd
bool	new_joy_cmd
CMutex	supervisor_mutex_
ros::Subscriber	supervisor_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 60 of file dabo_coop_alg_node.h.

Constructor & Destructor Documentation

DaboCoopAlgNode::DaboCoopAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 4 of file dabo_coop_alg_node.cpp.

DaboCoopAlgNode::~DaboCoopAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 62 of file dabo_coop_alg_node.cpp.

Member Function Documentation

void DaboCoopAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< DaboCoopAlgorithm >.

Definition at line 780 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::car_dabo_actionGetFeedbackCallback ( tibi_dabo_msgs::guiFeedbackPtr & feedback ) [private]

Definition at line 531 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::car_dabo_actionGetResultCallback ( tibi_dabo_msgs::guiResultPtr & result ) [private]

Definition at line 523 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::car_dabo_actionHasSucceedCallback ( void ) [private]

Definition at line 511 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::car_dabo_actionIsFinishedCallback ( void ) [private]

Definition at line 492 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::car_dabo_actionStartCallback ( const tibi_dabo_msgs::guiGoalConstPtr & goal ) [private]

Definition at line 457 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::car_dabo_actionStopCallback ( void ) [private]

Definition at line 483 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::dabo_car_actionActive ( ) [private]

Definition at line 436 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::dabo_car_actionDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::guiResultConstPtr &	result
	)		`[private]`

Definition at line 424 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::dabo_car_actionFeedback ( const tibi_dabo_msgs::guiFeedbackConstPtr & feedback ) [private]

Definition at line 441 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::dabo_car_actionMakeActionRequest ( ) [private]

Definition at line 706 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::dabo_tibi_actionActive ( ) [private]

Definition at line 403 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::dabo_tibi_actionDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::guiResultConstPtr &	result
	)		`[private]`

Definition at line 391 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::dabo_tibi_actionFeedback ( const tibi_dabo_msgs::guiFeedbackConstPtr & feedback ) [private]

Definition at line 408 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::dabo_tibi_actionMakeActionRequest ( ) [private]

Definition at line 684 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_action_clientActive ( ) [private]

Definition at line 370 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_action_clientDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::guiResultConstPtr &	result
	)		`[private]`

Definition at line 360 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_action_clientFeedback ( const tibi_dabo_msgs::guiFeedbackConstPtr & feedback ) [private]

Definition at line 375 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_action_clientMakeActionRequest ( ) [private]

Definition at line 667 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_actionGetFeedbackCallback ( tibi_dabo_msgs::guiFeedbackPtr & feedback ) [private]

Definition at line 591 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_actionGetResultCallback ( tibi_dabo_msgs::guiResultPtr & result ) [private]

Definition at line 583 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::gui_actionHasSucceedCallback ( void ) [private]

Definition at line 571 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::gui_actionIsFinishedCallback ( void ) [private]

Definition at line 555 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_actionStartCallback ( const tibi_dabo_msgs::guiGoalConstPtr & goal ) [private]

Definition at line 538 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::gui_actionStopCallback ( void ) [private]

Definition at line 548 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::hri_clientActive ( ) [private]

Definition at line 644 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::hri_clientDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 631 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::hri_clientFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 649 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::hri_clientMakeActionRequest ( ) [private]

Definition at line 750 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< DaboCoopAlgorithm >.

Definition at line 67 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::move_baseActive ( ) [private]

Definition at line 610 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::move_baseDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 598 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::move_baseFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 615 of file dabo_coop_alg_node.cpp.

bool DaboCoopAlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 728 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< DaboCoopAlgorithm >.

Definition at line 773 of file dabo_coop_alg_node.cpp.

void DaboCoopAlgNode::supervisor_callback ( const sensor_msgs::Joy::ConstPtr & msg ) [private]

Definition at line 328 of file dabo_coop_alg_node.cpp.