teleop_safety.h File Reference

#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <std_msgs/Float64.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <tf/transform_listener.h>
#include <nav_msgs/OccupancyGrid.h>
#include <math.h>
#include <unistd.h>

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Classes
class	teleop_safety
Defines
#define	MIN_FORWARD_SAFE_DIST   0.55
#define	MIN_REVERSE_SAFE_DIST   0.65
#define	START_FORWARD_SAFETY_THROTTLE_DIST   1.25
	Prevents CARL from (manually) driving past a linear boundary on the map.
#define	START_REVERSE_SAFETY_THROTTLE_DIST   1.4
Functions
int	main (int argc, char **argv)

---

Define Documentation

#define MIN_FORWARD_SAFE_DIST   0.55

Definition at line 38 of file teleop_safety.h.

#define MIN_REVERSE_SAFE_DIST   0.65

Definition at line 52 of file teleop_safety.h.

#define START_FORWARD_SAFETY_THROTTLE_DIST   1.25

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

.h 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.

Author:

Brian Hetherman, WPI - bhetherman@wpi.edu

Date:

October 1, 2014

The dist to start throttling forward linear vel for safety.

Definition at line 31 of file teleop_safety.h.

#define START_REVERSE_SAFETY_THROTTLE_DIST   1.4

Definition at line 45 of file teleop_safety.h.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Creates and runs the teleop_safety node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:

EXIT_SUCCESS if the node runs correctly

Creates and runs the arm_safety node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:

EXIT_SUCCESS if the node runs correctly

Definition at line 60 of file arm_safety.cpp.