00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ASSISTED_TELEOP_ASSISTED_TELEOP_H_ 00038 #define ASSISTED_TELEOP_ASSISTED_TELEOP_H_ 00039 #include <ros/ros.h> 00040 #include <geometry_msgs/Twist.h> 00041 #include <costmap_2d/costmap_2d_ros.h> 00042 #include <base_local_planner/trajectory_planner_ros.h> 00043 #include <boost/shared_ptr.hpp> 00044 #include <boost/thread.hpp> 00045 #include <Eigen/Core> 00046 00047 namespace assisted_teleop { 00048 class AssistedTeleop { 00049 public: 00050 AssistedTeleop(); 00051 ~AssistedTeleop(); 00052 private: 00053 void velCB(const geometry_msgs::TwistConstPtr& vel); 00054 void controlLoop(); 00055 00056 tf::TransformListener tf_; 00057 costmap_2d::Costmap2DROS costmap_ros_; 00058 double controller_frequency_; 00059 base_local_planner::TrajectoryPlannerROS planner_; 00060 boost::mutex mutex_; 00061 geometry_msgs::Twist cmd_vel_; 00062 boost::thread* planning_thread_; 00063 double theta_range_; 00064 int num_th_samples_, num_x_samples_; 00065 ros::Publisher pub_; 00066 ros::Subscriber sub_; 00067 double collision_trans_speed_, collision_rot_speed_; 00068 }; 00069 }; 00070 #endif