nav_pcontroller.h
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00001 /*
00002  * Copyright (c) 2009, Ingo Kresse <kresse@in.tum.de>, U. Klank
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 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 
00062 #ifndef NAV_PCONTROLLER_H
00063 #define NAV_PCONTROLLER_H
00064 
00065 #include <ros/ros.h>
00066 #include <ros/time.h>
00067 #include "tf/transform_listener.h"
00068 #include <actionlib/server/simple_action_server.h>
00069 
00070 #include <string>
00071 
00072 #include <boost/thread.hpp>
00073 
00074 #include <geometry_msgs/PoseStamped.h>
00075 #include <move_base_msgs/MoveBaseAction.h>
00076 
00077 #include "BaseDistance.h"
00078 
00079 class BasePController {
00080 private:
00081 
00082   double xy_tolerance_, th_tolerance_;
00083   ros::Duration fail_timeout_;
00084   double fail_velocity_;
00085   double vel_ang_max_, vel_lin_max_, acc_ang_max_, acc_lin_max_, p_;
00086   int loop_rate_;
00087 
00088   double vx_, vy_, vth_;
00089   double x_goal_, y_goal_, th_goal_;
00090   double x_now_, y_now_, th_now_;
00091   bool goal_set_, keep_distance_;
00092 
00093   double laser_watchdog_timeout_;
00094 
00095   std::string global_frame_;
00096   std::string base_link_frame_;
00097 
00098   BaseDistance dist_control_;
00099 
00100   ros::NodeHandle n_;
00101   tf::TransformListener tf_;
00102   ros::Subscriber sub_goal_;
00103   ros::Publisher pub_vel_;
00104 
00105   ros::Time low_speed_time_;
00106 
00107   boost::mutex lock;
00108 
00109   void newGoal(const geometry_msgs::PoseStamped &msg);
00110   void newGoal(const geometry_msgs::PoseStamped::ConstPtr& msg);
00111 
00112   void cycle();
00113   void stopRobot();
00114   void sendVelCmd(double vx, double vy, double vth);
00115   bool comparePoses(double x1, double y1, double a1,
00116                     double x2, double y2, double a2);
00117 
00118   bool retrieve_pose();
00119   double p_control(double x, double p, double limit);
00120   double limit_acc(double x, double x_old, double limit);
00121   void compute_p_control();
00122 
00123   void parseParams();
00124 
00125   actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> move_base_actionserver_;
00126 
00127   void newMoveBaseGoal();
00128   void preemptMoveBaseGoal();
00129 
00130 public:
00131   BasePController();
00132   ~BasePController();
00133   void main();
00134 };
00135 
00136 #endif


nav_pcontroller
Author(s): Ingo Kresse
autogenerated on Thu Jun 6 2019 20:28:18