BasePController Class Reference

#include <nav_pcontroller.h>

List of all members.

Public Member Functions
	BasePController ()
void	main ()
	~BasePController ()
Private Member Functions
bool	comparePoses (double x1, double y1, double a1, double x2, double y2, double a2)
void	compute_p_control ()
void	cycle ()
double	limit_acc (double x, double x_old, double limit)
void	newGoal (const geometry_msgs::PoseStamped &msg)
void	newGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	newMoveBaseGoal ()
double	p_control (double x, double p, double limit)
void	parseParams ()
void	preemptMoveBaseGoal ()
bool	retrieve_pose ()
	retrieves tf pose and updates (x_now_, y_now_, th_now_)
void	sendVelCmd (double vx, double vy, double vth)
void	stopRobot ()
Private Attributes
double	acc_ang_max_
double	acc_lin_max_
std::string	base_link_frame_
BaseDistance	dist_control_
ros::Duration	fail_timeout_
double	fail_velocity_
std::string	global_frame_
bool	goal_set_
bool	keep_distance_
double	laser_watchdog_timeout_
boost::mutex	lock
int	loop_rate_
ros::Time	low_speed_time_
actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	move_base_actionserver_
ros::NodeHandle	n_
double	p_
ros::Publisher	pub_vel_
ros::Subscriber	sub_goal_
tf::TransformListener	tf_
double	th_goal_
double	th_now_
double	th_tolerance_
double	vel_ang_max_
double	vel_lin_max_
double	vth_
double	vx_
double	vy_
double	x_goal_
double	x_now_
double	xy_tolerance_
double	y_goal_
double	y_now_

---

Detailed Description

This is a P controller for navigation. Yeah, this line is a todo...

ROS topics

Subscribes to (name/type):

• "/tf" tf/tfMessage: robot's pose in the "map" frame
• "~goal" geometry_msgs/PoseStamped : goal for the robot.

Publishes to (name / type):

• "/cmd_vel" geometry_msgs/Twist : velocity commands to robot
• "state" nav_robot_actions/MoveBaseState : current planner state (e.g., goal reached, no path) ??? does it

Actionlib (name / type):

• "~move_base/goal" move_base_msgs/MoveBaseActionGoal : similar to the move_base interface

ROS parameters

• "global_frame" (string) : global map frame, default: "map"
• "base_link_frame" (string) : base frame, default: "base_link"
• "xy_tolerance" (double) : Goal distance tolerance (how close the robot must be to the goal before stopping), default: 0.05 m
• "th_tolerance" (double) : Goal rotation tolerance (how close the robot must be to the goal before stopping), default: 0.05 rad
• "vel_lin_max" (double) : maximum linear velocity, default: 0.2 m/s
• "vel_ang_max" (double) : maximum angular velocity, default: 0.2 rad/s
• "acc_lin_max" (double) : maximum linear acceleration, default: 0.1 m/s^2
• "acc_ang_max" (double) : maximum angular acceleration, default: 0.1 rad/s^2
• "loop_rate" (int) : rate at which the control loop runs, default: 30 s^-1
• "p" (double) : P controller value, default: 1.0
• "keep_distance" (bool) : use BaseDistance to avoid obstacles or not, default: true

Definition at line 79 of file nav_pcontroller.h.

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Constructor & Destructor Documentation

BasePController::BasePController

(

)

Definition at line 57 of file nav_pcontroller.cc.

BasePController::~BasePController

(

)

Definition at line 76 of file nav_pcontroller.cc.

---

Member Function Documentation

bool BasePController::comparePoses	(	double	x1,
		double	y1,
		double	a1,
		double	x2,
		double	y2,
		double	a2
	)		[private]

Definition at line 331 of file nav_pcontroller.cc.

void BasePController::compute_p_control

(

)

[private]

Definition at line 217 of file nav_pcontroller.cc.

void BasePController::cycle

(

)

[private]

Definition at line 252 of file nav_pcontroller.cc.

double BasePController::limit_acc	(	double	x,
		double	x_old,
		double	limit
	)		[private]

Definition at line 50 of file nav_pcontroller.cc.

void BasePController::main

(

)

Definition at line 80 of file nav_pcontroller.cc.

void BasePController::newGoal

(

const geometry_msgs::PoseStamped &

msg

)

[private]

Definition at line 152 of file nav_pcontroller.cc.

void BasePController::newGoal

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

[private]

Definition at line 184 of file nav_pcontroller.cc.

void BasePController::newMoveBaseGoal

(

)

[private]

Definition at line 132 of file nav_pcontroller.cc.

double BasePController::p_control	(	double	x,
		double	p,
		double	limit
	)		[private]

Definition at line 44 of file nav_pcontroller.cc.

void BasePController::parseParams

(

)

[private]

Definition at line 93 of file nav_pcontroller.cc.

void BasePController::preemptMoveBaseGoal

(

)

[private]

Definition at line 143 of file nav_pcontroller.cc.

bool BasePController::retrieve_pose

(

)

[private]

retrieves tf pose and updates (x_now_, y_now_, th_now_)

Definition at line 193 of file nav_pcontroller.cc.

void BasePController::sendVelCmd	(	double	vx,
		double	vy,
		double	vth
	)		[private]

Definition at line 319 of file nav_pcontroller.cc.

void BasePController::stopRobot

(

)

[private]

Definition at line 314 of file nav_pcontroller.cc.

---

Member Data Documentation

double BasePController::acc_ang_max_ [private]

Definition at line 85 of file nav_pcontroller.h.

double BasePController::acc_lin_max_ [private]

Definition at line 85 of file nav_pcontroller.h.

std::string BasePController::base_link_frame_ [private]

Definition at line 96 of file nav_pcontroller.h.

BaseDistance BasePController::dist_control_ [private]

Definition at line 98 of file nav_pcontroller.h.

ros::Duration BasePController::fail_timeout_ [private]

Definition at line 83 of file nav_pcontroller.h.

double BasePController::fail_velocity_ [private]

Definition at line 84 of file nav_pcontroller.h.

std::string BasePController::global_frame_ [private]

Definition at line 95 of file nav_pcontroller.h.

bool BasePController::goal_set_ [private]

Definition at line 91 of file nav_pcontroller.h.

bool BasePController::keep_distance_ [private]

Definition at line 91 of file nav_pcontroller.h.

double BasePController::laser_watchdog_timeout_ [private]

Definition at line 93 of file nav_pcontroller.h.

boost::mutex BasePController::lock [private]

Definition at line 107 of file nav_pcontroller.h.

int BasePController::loop_rate_ [private]

Definition at line 86 of file nav_pcontroller.h.

ros::Time BasePController::low_speed_time_ [private]

Definition at line 105 of file nav_pcontroller.h.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> BasePController::move_base_actionserver_ [private]

Definition at line 125 of file nav_pcontroller.h.

ros::NodeHandle BasePController::n_ [private]

Definition at line 100 of file nav_pcontroller.h.

double BasePController::p_ [private]

Definition at line 85 of file nav_pcontroller.h.

ros::Publisher BasePController::pub_vel_ [private]

Definition at line 103 of file nav_pcontroller.h.

ros::Subscriber BasePController::sub_goal_ [private]

Definition at line 102 of file nav_pcontroller.h.

tf::TransformListener BasePController::tf_ [private]

Definition at line 101 of file nav_pcontroller.h.

double BasePController::th_goal_ [private]

Definition at line 89 of file nav_pcontroller.h.

double BasePController::th_now_ [private]

Definition at line 90 of file nav_pcontroller.h.

double BasePController::th_tolerance_ [private]

Definition at line 82 of file nav_pcontroller.h.

double BasePController::vel_ang_max_ [private]

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vel_lin_max_ [private]

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vth_ [private]

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vx_ [private]

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vy_ [private]

Definition at line 88 of file nav_pcontroller.h.

double BasePController::x_goal_ [private]

Definition at line 89 of file nav_pcontroller.h.

double BasePController::x_now_ [private]

Definition at line 90 of file nav_pcontroller.h.

double BasePController::xy_tolerance_ [private]

Definition at line 82 of file nav_pcontroller.h.

double BasePController::y_goal_ [private]

Definition at line 89 of file nav_pcontroller.h.

double BasePController::y_now_ [private]

Definition at line 90 of file nav_pcontroller.h.

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The documentation for this class was generated from the following files:

• nav_pcontroller.h
• nav_pcontroller.cc