pose_base_controller.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef POSE_BASE_CONTROLLER_POSE_BASE_CONTROLLER_H_
00038 #define POSE_BASE_CONTROLLER_POSE_BASE_CONTROLLER_H_
00039 #include <ros/ros.h>
00040 #include <tf/tf.h>
00041 #include <tf/transform_listener.h>
00042 #include <actionlib/server/simple_action_server.h>
00043 #include <move_base_msgs/MoveBaseAction.h>
00044 #include <geometry_msgs/PoseStamped.h>
00045 #include <geometry_msgs/Pose.h>
00046 #include <geometry_msgs/Twist.h>
00047 #include <nav_msgs/Odometry.h>
00048 
00049 #include <boost/thread.hpp>
00050 
00051 namespace pose_base_controller {
00052   class PoseBaseController {
00053     private:
00054       typedef actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> MoveBaseActionServer;
00055 
00056     public:
00057       PoseBaseController();
00058 
00059       ~PoseBaseController() {}
00060 
00061       void execute(const move_base_msgs::MoveBaseGoalConstPtr& user_goal);
00062       bool controlLoop(const move_base_msgs::MoveBaseGoal& current_goal);
00063       tf::Stamped<tf::Pose> getRobotPose();
00064 
00065       inline double sign(double n){
00066         return n < 0.0 ? -1.0 : 1.0;
00067       }
00068 
00069       geometry_msgs::Twist diff2D(const tf::Pose& pose1, const tf::Pose& pose2);
00070       geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);
00071       double headingDiff(double pt_x, double pt_y, double x, double y, double heading);
00072       move_base_msgs::MoveBaseGoal goalToFixedFrame(const move_base_msgs::MoveBaseGoal& goal);
00073 
00074     private:
00075       void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
00076       bool stopped();
00077 
00078       MoveBaseActionServer action_server_;
00079       tf::TransformListener tf_;
00080       ros::Publisher vel_pub_;
00081       double K_trans_, K_rot_, tolerance_trans_, tolerance_rot_;
00082       double tolerance_timeout_, freq_;
00083       double max_vel_lin_, max_vel_th_;
00084       double min_vel_lin_, min_vel_th_;
00085       double min_in_place_vel_th_, in_place_trans_vel_;
00086       double transform_tolerance_;
00087       std::string fixed_frame_, base_frame_;
00088       bool holonomic_;
00089       boost::mutex odom_lock_;
00090       ros::Subscriber odom_sub_;
00091       nav_msgs::Odometry base_odom_;
00092       double trans_stopped_velocity_, rot_stopped_velocity_;
00093   };
00094 };
00095 #endif


pose_base_controller
Author(s): Eitan Marder-Eppstein
autogenerated on Thu Mar 28 2019 03:37:38