base_client.h
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // author: Adam Leeper
00031 
00032 #ifndef _BASE_CLIENT_H_
00033 #define _BASE_CLIENT_H_
00034 
00035 #include <ros/ros.h>
00036 
00037 #include <tf/transform_listener.h>
00038 #include <geometry_msgs/Twist.h>
00039 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00040 
00041 #include <actionlib/client/simple_action_client.h>
00042 
00043 #include <move_base_msgs/MoveBaseAction.h>
00044 #include <move_base_msgs/MoveBaseGoal.h>
00045 
00046 #include <object_manipulator/tools/service_action_wrappers.h>
00047 #include <std_srvs/Empty.h>
00048 
00049 namespace pr2_wrappers {
00050 
00051 class BaseClient{
00052 private:
00053 
00055   ros::NodeHandle nh_;
00056 
00058   ros::Publisher cmd_vel_pub_;
00059 
00061   ros::Publisher pose_estimate_pub_;
00062 
00064   tf::TransformListener *tfl_;
00065 
00067   bool delete_tfl_;
00068 
00070   ros::Subscriber sub_nav_status_;
00071 
00073   ros::Subscriber sub_nav_result_;
00074 
00076   object_manipulator::ActionWrapper<move_base_msgs::MoveBaseAction> move_base_client_;
00077   //actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
00078 
00080   bool move_base_active_;
00081 
00082 
00083   geometry_msgs::TwistStamped base_cmd_;
00084   tf::Vector3 last_linear_;
00085   tf::Vector3 last_angular_;
00086 
00087   ros::Duration timeout_;
00088 
00089   ros::Timer publish_timer_;
00090 
00091   // Service clients
00092   object_manipulator::ServiceWrapper<std_srvs::Empty> local_costmap_reset_srv_;
00093 
00095   void publishTwist(const ros::TimerEvent &e);
00096 
00098   void moveBaseStatusCB( const actionlib_msgs::GoalStatusArrayConstPtr &array);
00099 
00101   void moveBaseResultCB( const move_base_msgs::MoveBaseActionResultConstPtr &result);
00102 
00103 public:
00105   BaseClient(ros::NodeHandle &nh, const ros::Duration &timeout, tf::TransformListener *tfl = 0);
00106 
00107   ~BaseClient();
00108 
00110   void applyTwist(const geometry_msgs::TwistStamped &twist);
00111 
00113   bool hasGoal();
00114 
00116   //void queryGoalState();
00117 
00119   void cancelGoals();
00120 
00121   void sendNavGoal(const geometry_msgs::PoseStamped &ps);
00122 
00123   void sendPoseEstimate(const geometry_msgs::PoseWithCovarianceStamped &ps);
00124 
00125   void clearLocalCostmap( );
00126 
00127 
00128 };
00129 
00130 }
00131 
00132 
00133 #endif


pr2_wrappers
Author(s): Adam Leeper
autogenerated on Mon Oct 6 2014 12:08:38