Public Member Functions | Private Member Functions | Private Attributes
pr2_wrappers::BaseClient Class Reference

#include <base_client.h>

List of all members.

Public Member Functions

void applyTwist (const geometry_msgs::TwistStamped &twist)
 Commands a straight-up movement command to the base.
 BaseClient (ros::NodeHandle &nh, const ros::Duration &timeout, tf::TransformListener *tfl=0)
 Initialization.
void cancelGoals ()
 Deprecated...
void clearLocalCostmap ()
bool hasGoal ()
 Returns true if the nav stack is active.
void sendNavGoal (const geometry_msgs::PoseStamped &ps)
void sendPoseEstimate (const geometry_msgs::PoseWithCovarianceStamped &ps)
 ~BaseClient ()

Private Member Functions

void moveBaseResultCB (const move_base_msgs::MoveBaseActionResultConstPtr &result)
 Callback for receiving results of move base client.
void moveBaseStatusCB (const actionlib_msgs::GoalStatusArrayConstPtr &array)
 Callback for receiving status of move base client.
void publishTwist (const ros::TimerEvent &e)
 Publish last stored twist message at each timer interval; has a (very CRITICAL) time-out for safety.

Private Attributes

geometry_msgs::TwistStamped base_cmd_
ros::Publisher cmd_vel_pub_
 Publisher for twist messages.
bool delete_tfl_
 A flag to determine whether to delete the TF listener on destruction.
tf::Vector3 last_angular_
tf::Vector3 last_linear_
object_manipulator::ServiceWrapper
< std_srvs::Empty > 
local_costmap_reset_srv_
bool move_base_active_
 A bool representing if the move_base action server is active.
object_manipulator::ActionWrapper
< move_base_msgs::MoveBaseAction
move_base_client_
 A actionlib client to the move_base action server.
ros::NodeHandle nh_
 The node handle we'll be using.
ros::Publisher pose_estimate_pub_
 Publisher for initial pose estimates; default topic is "/initialpose".
ros::Timer publish_timer_
ros::Subscriber sub_nav_result_
 A subscriber for the result of the nav stack.
ros::Subscriber sub_nav_status_
 A subscriber for listening to the status of the nav stack.
tf::TransformListenertfl_
 TF listener pointer; a new one only gets created if one is not passed in on construction.
ros::Duration timeout_

Detailed Description

Definition at line 51 of file base_client.h.


Constructor & Destructor Documentation

Initialization.

Definition at line 37 of file base_client.cpp.

Definition at line 72 of file base_client.cpp.


Member Function Documentation

void pr2_wrappers::BaseClient::applyTwist ( const geometry_msgs::TwistStamped &  twist)

Commands a straight-up movement command to the base.

Stores a new command to send to the base.

Definition at line 144 of file base_client.cpp.

Deprecated...

Sends a "cancel all goals" request to the move_base server.

Tells the nav stack to STOP!

Definition at line 91 of file base_client.cpp.

Definition at line 193 of file base_client.cpp.

Returns true if the nav stack is active.

Public method to check if the action server has a goal.

Definition at line 78 of file base_client.cpp.

Callback for receiving results of move base client.

Callback for receiving status of move_base_client.

Definition at line 98 of file base_client.cpp.

void pr2_wrappers::BaseClient::moveBaseStatusCB ( const actionlib_msgs::GoalStatusArrayConstPtr &  array) [private]

Callback for receiving status of move base client.

Callback for receiving status of move_base_client.

Definition at line 123 of file base_client.cpp.

Publish last stored twist message at each timer interval; has a (very CRITICAL) time-out for safety.

Publishes the most recent twist message to the base controller.

Definition at line 151 of file base_client.cpp.

void pr2_wrappers::BaseClient::sendNavGoal ( const geometry_msgs::PoseStamped &  ps)

Definition at line 177 of file base_client.cpp.

void pr2_wrappers::BaseClient::sendPoseEstimate ( const geometry_msgs::PoseWithCovarianceStamped &  ps)

Definition at line 187 of file base_client.cpp.


Member Data Documentation

geometry_msgs::TwistStamped pr2_wrappers::BaseClient::base_cmd_ [private]

Definition at line 83 of file base_client.h.

Publisher for twist messages.

Definition at line 58 of file base_client.h.

A flag to determine whether to delete the TF listener on destruction.

Definition at line 67 of file base_client.h.

Definition at line 85 of file base_client.h.

Definition at line 84 of file base_client.h.

Definition at line 92 of file base_client.h.

A bool representing if the move_base action server is active.

Definition at line 80 of file base_client.h.

A actionlib client to the move_base action server.

Definition at line 76 of file base_client.h.

The node handle we'll be using.

Definition at line 55 of file base_client.h.

Publisher for initial pose estimates; default topic is "/initialpose".

Definition at line 61 of file base_client.h.

Definition at line 89 of file base_client.h.

A subscriber for the result of the nav stack.

Definition at line 73 of file base_client.h.

A subscriber for listening to the status of the nav stack.

Definition at line 70 of file base_client.h.

TF listener pointer; a new one only gets created if one is not passed in on construction.

Definition at line 64 of file base_client.h.

Definition at line 87 of file base_client.h.


The documentation for this class was generated from the following files:


pr2_wrappers
Author(s): Adam Leeper
autogenerated on Fri Jan 3 2014 11:50:39