Public Member Functions
	TurtlebotFollower ()
	The constructor for the follower. Constructor for the follower.
	~TurtlebotFollower ()
Private Member Functions
bool	changeModeSrvCb (turtlebot_msgs::SetFollowState::Request &request, turtlebot_msgs::SetFollowState::Response &response)
void	imagecb (const sensor_msgs::ImageConstPtr &depth_msg)
	Callback for point clouds. Callback for depth images. It finds the centroid of the points in a box in the center of the image. Publishes cmd_vel messages with the goal from the image.
virtual void	onInit ()
	OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.
void	publishBbox ()
void	publishMarker (double x, double y, double z)
void	reconfigure (turtlebot_follower::FollowerConfig &config, uint32_t level)
Private Attributes
ros::Publisher	bboxpub_
ros::Publisher	cmdpub_
dynamic_reconfigure::Server < turtlebot_follower::FollowerConfig > *	config_srv_
bool	enabled_
double	goal_z_
ros::Publisher	markerpub_
double	max_x_
double	max_y_
double	max_z_
double	min_x_
double	min_y_
ros::Subscriber	sub_
ros::ServiceServer	switch_srv_
double	x_scale_
double	z_scale_

Detailed Description

The turtlebot follower nodelet. Subscribes to point clouds from the 3dsensor, processes them, and publishes command vel messages.

Definition at line 53 of file follower.cpp.

Constructor & Destructor Documentation

turtlebot_follower::TurtlebotFollower::TurtlebotFollower ( ) [inline]

The constructor for the follower. Constructor for the follower.

Definition at line 60 of file follower.cpp.

turtlebot_follower::TurtlebotFollower::~TurtlebotFollower ( ) [inline]

Definition at line 68 of file follower.cpp.

Member Function Documentation

bool turtlebot_follower::TurtlebotFollower::changeModeSrvCb	(	turtlebot_msgs::SetFollowState::Request &	request,
		turtlebot_msgs::SetFollowState::Response &	response
	)		`[inline, private]`

Definition at line 230 of file follower.cpp.

void turtlebot_follower::TurtlebotFollower::imagecb ( const sensor_msgs::ImageConstPtr & depth_msg ) [inline, private]

Callback for point clouds. Callback for depth images. It finds the centroid of the points in a box in the center of the image. Publishes cmd_vel messages with the goal from the image.

Parameters:

cloud The point cloud message.

Definition at line 142 of file follower.cpp.

virtual void turtlebot_follower::TurtlebotFollower::onInit ( ) [inline, private, virtual]

OnInit method from node handle. OnInit method from node handle. Sets up the parameters and topics.

Definition at line 95 of file follower.cpp.

void turtlebot_follower::TurtlebotFollower::publishBbox ( ) [inline, private]

Definition at line 276 of file follower.cpp.