keyNavSafety Class Reference

safety checks for keyboard navigation More...

#include <keyNavSafety.h>

List of all members.

Public Member Functions
void	baseCommandCallback (const geometry_msgs::Twist &requestedCommand)
void	costCallback (const youbot_overhead_localization::CostmapCost &newCost)
	keyNavSafety ()
void	localizationCallback (const youbot_overhead_localization::Pose2d &pose)
Public Attributes
ros::Publisher	baseCommandPublisher
ros::Subscriber	baseCommandSubscriber
ros::ServiceClient	costClient
ros::Subscriber	costSubscriber
youbot_overhead_localization::CostmapCost	currentCost
time_t	lastStopCmdTime
bool	localizationInitialized
ros::Subscriber	localizationSubscriber
geometry_msgs::Twist	moveCommand
bool	moveInitialized
ros::NodeHandle	n
youbot_overhead_localization::Pose2d	robotPose
bool	stopCommandFound
int	timeBetweenStopCmds

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Detailed Description

safety checks for keyboard navigation

This class uses costs from the costmap generated for path planning to determine the safety of commands from the keyboard navigation. If the robot is in a dangerous area, the speed is calculated accordingly to prevent damage to the robot or to the environment.

Definition at line 26 of file keyNavSafety.h.

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Constructor & Destructor Documentation

keyNavSafety::keyNavSafety

(

)

Constructor

This file contains the definition of the keyNavSafety class, which provides checks to make sure the robot does not damage anything while driving freely.

Author:

David Kent

Definition at line 10 of file keyNavSafety.cpp.

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Member Function Documentation

void keyNavSafety::baseCommandCallback

(

const geometry_msgs::Twist &

requestedCommand

)

Check a base command for safety and modify it if necessary, then pass it on to the base as a movement command

Parameters:

requestedCommand

the requested move command for the robot base

Definition at line 107 of file keyNavSafety.cpp.

void keyNavSafety::costCallback

(

const youbot_overhead_localization::CostmapCost &

newCost

)

Update the current cost based on new map information

Parameters:

newCost

updated cost information

Definition at line 35 of file keyNavSafety.cpp.

void keyNavSafety::localizationCallback

(

const youbot_overhead_localization::Pose2d &

pose

)

Update the robot base localization

Parameters:

pose	the robot base pose

Definition at line 124 of file keyNavSafety.cpp.

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Member Data Documentation

ros::Publisher keyNavSafety::baseCommandPublisher

Definition at line 31 of file keyNavSafety.h.

ros::Subscriber keyNavSafety::baseCommandSubscriber

Definition at line 32 of file keyNavSafety.h.

ros::ServiceClient keyNavSafety::costClient

Definition at line 35 of file keyNavSafety.h.

ros::Subscriber keyNavSafety::costSubscriber

Definition at line 33 of file keyNavSafety.h.

youbot_overhead_localization::CostmapCost keyNavSafety::currentCost

Definition at line 38 of file keyNavSafety.h.

time_t keyNavSafety::lastStopCmdTime

Definition at line 51 of file keyNavSafety.h.

bool keyNavSafety::localizationInitialized

Definition at line 47 of file keyNavSafety.h.

ros::Subscriber keyNavSafety::localizationSubscriber

Definition at line 34 of file keyNavSafety.h.

geometry_msgs::Twist keyNavSafety::moveCommand

Definition at line 41 of file keyNavSafety.h.

bool keyNavSafety::moveInitialized

Definition at line 46 of file keyNavSafety.h.

ros::NodeHandle keyNavSafety::n

Definition at line 30 of file keyNavSafety.h.

youbot_overhead_localization::Pose2d keyNavSafety::robotPose

Definition at line 44 of file keyNavSafety.h.

bool keyNavSafety::stopCommandFound

Definition at line 50 of file keyNavSafety.h.

int keyNavSafety::timeBetweenStopCmds

Definition at line 52 of file keyNavSafety.h.

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

• keyNavSafety.h
• keyNavSafety.cpp