state_machine.cpp File Reference

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <std_msgs/String.h>
#include <std_msgs/Bool.h>
#include <geometry_msgs/PoseStamped.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib_msgs/GoalStatus.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <stdio.h>
#include <string>
#include <sstream>
#include "video_player/PlayVideoSrv.h"

Include dependency graph for state_machine.cpp:

Go to the source code of this file.

Enumerations
enum	state {   START, RETURN_START, WAIT_PERSON, APPROACH_PERSON,   ASK_PERSON, WAIT_BUTTON_TOUR, APPROACH_PRESENTATION, PRESENT,   ASK_REPETITION, WAIT_BUTTON_REPETITION, TALK_BYE }
Functions
void	buttonCb (std_msgs::Bool msg)
void	createPoseFromParams (std::string param_name, geometry_msgs::PoseStamped *pose)
int	main (int argc, char **argv)
Variables
int	current_goal = 0
ros::Time	last_button_msg_time
bool	last_button_state = false

---

Enumeration Type Documentation

enum state

Enumerator:

START
RETURN_START
WAIT_PERSON
APPROACH_PERSON
ASK_PERSON
WAIT_BUTTON_TOUR
APPROACH_PRESENTATION
PRESENT
ASK_REPETITION
WAIT_BUTTON_REPETITION
TALK_BYE

Definition at line 39 of file state_machine.cpp.

---

Function Documentation

void buttonCb

(

std_msgs::Bool

msg

)

Callback function that received a boolean ROS message an stores the content and the receive time in global variables as the bool message does not contain a header structure.

INPUT: std_msgs::Bool msg: message

OUTPUT: none

void createPoseFromParams	(	std::string	param_name,
		geometry_msgs::PoseStamped *	pose
	)

Function that extracts a PoseStamped representation from the parameter group param_name of the goals namespace and stores it in the provided.

INPUT: std::string param_name: name of the PoseStamped parameter geometry_msgs::PoseStamped* pose: reference to the pose that to be changed OUTPUT: none

int main	(	int	argc,
		char **	argv
	)

Definition at line 43 of file state_machine.cpp.

---

Variable Documentation

int current_goal = 0

Definition at line 31 of file state_machine.cpp.

ros::Time last_button_msg_time

Node that uses the WheeledRobin robot to perform a guided tour with multiple stops. It provides interfaces to nodes for navigation, speech synthesis, physical user interfaces and displaying graphics and uses a state machine to manage the workflow.

JKU Linz Institute for Robotics Alexander Reiter, Armin Steinhauser December 2013

Definition at line 30 of file state_machine.cpp.

bool last_button_state = false

Definition at line 36 of file state_machine.cpp.