Program Listing for File turtlebot3_drive.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Authors: Taehun Lim (Darby), Ryan Shim
#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
#include <geometry_msgs/msg/twist.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/LinearMath/Quaternion.h>
#define DEG2RAD (M_PI / 180.0)
#define RAD2DEG (180.0 / M_PI)
#define CENTER 0
#define LEFT 1
#define RIGHT 2
#define LINEAR_VELOCITY 0.3
#define ANGULAR_VELOCITY 1.5
#define GET_TB3_DIRECTION 0
#define TB3_DRIVE_FORWARD 1
#define TB3_RIGHT_TURN 2
#define TB3_LEFT_TURN 3
class Turtlebot3Drive : public rclcpp::Node
{
public:
Turtlebot3Drive();
~Turtlebot3Drive();
private:
// ROS topic publishers
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
// ROS topic subscribers
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
// Variables
double robot_pose_;
double prev_robot_pose_;
double scan_data_[3];
// ROS timer
rclcpp::TimerBase::SharedPtr update_timer_;
// Function prototypes
void update_callback();
void update_cmd_vel(double linear, double angular);
void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
};
#endif // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_