Prevents CARL from (manually) driving past a linear boundary on the map. More...

#include <nav_safety.h>

Public Member Functions
void	cancelNavGoals ()
	cancels all nav goals
	NavSafety ()
	Constructor.
Private Member Functions
bool	isArmContained ()
bool	isArmRetracted ()
void	joyCallback (const sensor_msgs::Joy::ConstPtr &joy)
	Joystick input callback.
bool	navStopCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	Callback for stopping manual and autonomous navigation from the safe base movement layer.
void	poseCallback (const geometry_msgs::Pose::ConstPtr &msg)
	Callback for robot base pose.
void	publishArmNotContainedError ()
void	publishClearError ()
void	publishStoppedError ()
void	safeBaseCommandCallback (const geometry_msgs::Twist::ConstPtr &msg)
	Callback for safe base velocity commands.
void	safeMoveCallback (const move_base_msgs::MoveBaseGoalConstPtr &goal)
	Layer for safely controlling base movement commands.
Private Attributes
actionlib::SimpleActionClient < wpi_jaco_msgs::HomeArmAction >	acHome
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	acMoveBase
actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	asSafeMove
ros::Publisher	baseCommandPublisher
ros::Time	baseFeedbackLastPublished
int	controllerType
ros::ServiceClient	jacoCartesianClient
ros::ServiceClient	jacoPosClient
ros::Subscriber	joySubscriber
ros::NodeHandle	node
std::vector< float >	retractPos
ros::Subscriber	robotPoseSubscriber
ros::Subscriber	safeBaseCommandSubscriber
ros::Publisher	safetyErrorPublisher
ros::ServiceServer	stopBaseNavServer
bool	stopped
float	theta
bool	use_teleop_safety
float	x
float	y

Detailed Description

Prevents CARL from (manually) driving past a linear boundary on the map.

nav_safety creates a ROS node that prevents CARL from crossing a line on the map during manual navigation. The node also adds estop functionality that prevents only online manual navigation commands.

Definition at line 47 of file nav_safety.h.

Constructor & Destructor Documentation

NavSafety::NavSafety ( )

Constructor.

Definition at line 3 of file nav_safety.cpp.

Member Function Documentation

void NavSafety::cancelNavGoals ( )

cancels all nav goals

Definition at line 154 of file nav_safety.cpp.

bool NavSafety::isArmContained ( ) [private]

Definition at line 231 of file nav_safety.cpp.

bool NavSafety::isArmRetracted ( ) [private]

Definition at line 208 of file nav_safety.cpp.

void NavSafety::joyCallback ( const sensor_msgs::Joy::ConstPtr & joy ) [private]

Joystick input callback.

Parameters:

joy	joystick input data

Definition at line 54 of file nav_safety.cpp.

bool NavSafety::navStopCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[private]`

Callback for stopping manual and autonomous navigation from the safe base movement layer.

Parameters:

req	empty service request
res	empty service response

Returns:: true on success

Definition at line 200 of file nav_safety.cpp.

void NavSafety::poseCallback ( const geometry_msgs::Pose::ConstPtr & msg ) [private]

Callback for robot base pose.

Parameters:

msg	pose message

Definition at line 161 of file nav_safety.cpp.

void NavSafety::publishArmNotContainedError ( ) [private]

Definition at line 245 of file nav_safety.cpp.

void NavSafety::publishClearError ( ) [private]

Definition at line 263 of file nav_safety.cpp.

void NavSafety::publishStoppedError ( ) [private]

Definition at line 254 of file nav_safety.cpp.

void NavSafety::safeBaseCommandCallback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Callback for safe base velocity commands.

Parameters:

msg	velocity base command

Definition at line 98 of file nav_safety.cpp.

void NavSafety::safeMoveCallback ( const move_base_msgs::MoveBaseGoalConstPtr & goal ) [private]

Layer for safely controlling base movement commands.

This node will prevent the robot from moving while the arm is extended beyond the navigation footprint of the base; input to this node can also be cut off independently from stopping lower level control, so that external base move commands can be suspended

Definition at line 174 of file nav_safety.cpp.