IRI ROS Specific Algorithm Class. More...

#include <darwin_simple_nav_alg_node.h>

Inheritance diagram for DarwinSimpleNavAlgNode:

Public Member Functions
	DarwinSimpleNavAlgNode (void)
	Constructor.
	~DarwinSimpleNavAlgNode (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	current_pose_callback (const nav_msgs::Odometry::ConstPtr &msg)
void	target_poseGetFeedbackCallback (move_base_msgs::MoveBaseFeedbackPtr &feedback)
void	target_poseGetResultCallback (move_base_msgs::MoveBaseResultPtr &result)
bool	target_poseHasSucceedCallback (void)
bool	target_poseIsFinishedCallback (void)
void	target_poseStartCallback (const move_base_msgs::MoveBaseGoalConstPtr &goal)
void	target_poseStopCallback (void)
Private Attributes
ros::Publisher	cmd_vel_publisher_
geometry_msgs::PoseStamped	current_pose
CMutex	current_pose_mutex_
ros::Subscriber	current_pose_subscriber_
bool	finished
geometry_msgs::PoseStamped	target_pose
IriActionServer < move_base_msgs::MoveBaseAction >	target_pose_aserver_
tf::TransformListener	tf_listener
geometry_msgs::Twist	Twist_msg_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file darwin_simple_nav_alg_node.h.

Constructor & Destructor Documentation

DarwinSimpleNavAlgNode::DarwinSimpleNavAlgNode ( void )

Constructor.

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

Definition at line 4 of file darwin_simple_nav_alg_node.cpp.

DarwinSimpleNavAlgNode::~DarwinSimpleNavAlgNode ( void )

Destructor.

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

Definition at line 35 of file darwin_simple_nav_alg_node.cpp.

Member Function Documentation

void DarwinSimpleNavAlgNode::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< DarwinSimpleNavAlgorithm >.

Definition at line 203 of file darwin_simple_nav_alg_node.cpp.

void DarwinSimpleNavAlgNode::current_pose_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 53 of file darwin_simple_nav_alg_node.cpp.

void DarwinSimpleNavAlgNode::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< DarwinSimpleNavAlgorithm >.

Definition at line 40 of file darwin_simple_nav_alg_node.cpp.

void DarwinSimpleNavAlgNode::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< DarwinSimpleNavAlgorithm >.

Definition at line 196 of file darwin_simple_nav_alg_node.cpp.

void DarwinSimpleNavAlgNode::target_poseGetFeedbackCallback ( move_base_msgs::MoveBaseFeedbackPtr & feedback ) [private]

Definition at line 179 of file darwin_simple_nav_alg_node.cpp.

void DarwinSimpleNavAlgNode::target_poseGetResultCallback ( move_base_msgs::MoveBaseResultPtr & result ) [private]

Definition at line 171 of file darwin_simple_nav_alg_node.cpp.

bool DarwinSimpleNavAlgNode::target_poseHasSucceedCallback ( void ) [private]

Definition at line 159 of file darwin_simple_nav_alg_node.cpp.

bool DarwinSimpleNavAlgNode::target_poseIsFinishedCallback ( void ) [private]

Definition at line 146 of file darwin_simple_nav_alg_node.cpp.

void DarwinSimpleNavAlgNode::target_poseStartCallback ( const move_base_msgs::MoveBaseGoalConstPtr & goal ) [private]

Definition at line 117 of file darwin_simple_nav_alg_node.cpp.