#include <GoDock.h>

Public Member Functions
void	batteryCallback (const roomba_500_series::BatteryConstPtr &bat)
	Battery callback.
void	goalCallback (const roomba_500_series::GoDockGoalConstPtr &goal)
	Goal callback.
	GoDockAction (std::string name)
	Constructor.
void	irCallback (const roomba_500_series::IRCharacterConstPtr &ir)
	IR callback.
	~GoDockAction ()
	Destructor.
Protected Attributes
std::string	action_name_
	Action name.
actionlib::SimpleActionServer < roomba_500_series::GoDockAction >	as_
	Action Server.
roomba_500_series::GoDockFeedback	feedback_
	Message used to published feedback.
ros::NodeHandle	nh_
	Node handle.
roomba_500_series::GoDockResult	result_
	Message used to published result.
Private Member Functions
void	sendCmdVel (float linear, float angular)
	Send velocity commands.
Private Attributes
ros::Subscriber	bat_sub_
	Subscriver for battery, to check if the Roomba is docked.
ros::Publisher	cmd_vel_pub_
	Publisher for cmd_vel, to move the robot.
bool	dock_
	Whether the Roomba is docked or not.
roomba_500_series::IRCharacter	ir_character_
	IR char.
ros::Subscriber	ir_sub_
	Subscriver for ir_char, to read the dock beacon info.

Detailed Description

Definition at line 60 of file GoDock.h.

Constructor & Destructor Documentation

GoDockAction::GoDockAction ( std::string name )

Constructor.

Parameters:

name	Action Server name.

Definition at line 39 of file GoDock.cpp.

GoDockAction::~GoDockAction ( )

Destructor.

Definition at line 47 of file GoDock.cpp.

Member Function Documentation

void GoDockAction::batteryCallback ( const roomba_500_series::BatteryConstPtr & bat )

Battery callback.

This function is a callback for battery.

Parameters:

bat	Roomba battery message.

Definition at line 107 of file GoDock.cpp.

void GoDockAction::goalCallback ( const roomba_500_series::GoDockGoalConstPtr & goal )

Goal callback.

This function is a callback for goals received.

Parameters:

goal New goal.

Definition at line 52 of file GoDock.cpp.

void GoDockAction::irCallback ( const roomba_500_series::IRCharacterConstPtr & ir )

IR callback.

This function is a callback for ir_char.

Parameters:

ir	Roomba ir message.

Definition at line 100 of file GoDock.cpp.

void GoDockAction::sendCmdVel	(	float	linear,
		float	angular
	)		`[private]`

Send velocity commands.

This function allows to send velocity commands directly to the Roomba driver. Notice that if you are using move_base to move your Roomba you must cancel any existing goals or else move_base will try to move the Roomba while it tries to dock.

Parameters: