kobuki::SafetyController Class Reference

#include <safety_controller.hpp>

Inheritance diagram for kobuki::SafetyController:

Public Member Functions
bool	init ()
	SafetyController (ros::NodeHandle &nh, std::string &name)
void	spin ()
	~SafetyController ()
Public Member Functions inherited from yocs::Controller
	Controller ()
bool	disable ()
bool	enable ()
bool	getState ()
virtual	~Controller ()

Private Member Functions
void	bumperEventCB (const kobuki_msgs::BumperEventConstPtr msg)
	Keeps track of bumps. More...
void	cliffEventCB (const kobuki_msgs::CliffEventConstPtr msg)
	Keeps track of cliff detection. More...
void	disableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for disabling the controller. More...
void	enableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for enabling the controller. More...
void	resetSafetyStatesCB (const std_msgs::EmptyConstPtr msg)
	Callback for resetting safety variables. More...
void	wheelEventCB (const kobuki_msgs::WheelDropEventConstPtr msg)
	Keeps track of the wheel states. More...

Private Attributes
bool	bumper_center_pressed_
ros::Subscriber	bumper_event_subscriber_
bool	bumper_left_pressed_
bool	bumper_right_pressed_
bool	cliff_center_detected_
ros::Subscriber	cliff_event_subscriber_
bool	cliff_left_detected_
bool	cliff_right_detected_
ros::Publisher	controller_state_publisher_
ros::Subscriber	disable_controller_subscriber_
ros::Subscriber	enable_controller_subscriber_
ros::Time	last_event_time_
geometry_msgs::TwistPtr	msg_
std::string	name_
ros::NodeHandle	nh_
ros::Subscriber	reset_safety_states_subscriber_
ros::Duration	time_to_extend_bump_cliff_events_
ros::Publisher	velocity_command_publisher_
ros::Subscriber	wheel_event_subscriber_
bool	wheel_left_dropped_
bool	wheel_right_dropped_

Detailed Description

@ brief Keeps track of safety-related events and commands Kobuki to move accordingly

The SafetyController keeps track of bumper, cliff and wheel drop events. In case of the first two, Kobuki is commanded to move back. In the latter case, Kobuki is stopped. All commands stop when the event condition disappears. In the case of lateral bump/cliff, robot also spins a bit, what makes easier to escape from the risk.

This controller can be enabled/disabled. The safety states (bumper pressed etc.) can be reset. WARNING: Dangerous!

Definition at line 75 of file safety_controller.hpp.

Constructor & Destructor Documentation

kobuki::SafetyController::SafetyController ( ros::NodeHandle &  nh, std::string &  name  )

inline

Definition at line 78 of file safety_controller.hpp.

kobuki::SafetyController::~SafetyController ( )

inline

Definition at line 92 of file safety_controller.hpp.

Member Function Documentation

void kobuki::SafetyController::bumperEventCB ( const kobuki_msgs::BumperEventConstPtr  msg )

private

Keeps track of bumps.

Parameters

msg	incoming topic message

Definition at line 225 of file safety_controller.hpp.

void kobuki::SafetyController::cliffEventCB ( const kobuki_msgs::CliffEventConstPtr  msg )

private

Keeps track of cliff detection.

Parameters

msg	incoming topic message

Definition at line 200 of file safety_controller.hpp.

void kobuki::SafetyController::disableCB ( const std_msgs::EmptyConstPtr  msg )

private

ROS logging output for disabling the controller.

Parameters

msg	incoming topic message

Definition at line 188 of file safety_controller.hpp.

void kobuki::SafetyController::enableCB ( const std_msgs::EmptyConstPtr  msg )

private

ROS logging output for enabling the controller.

Parameters

msg	incoming topic message

Definition at line 176 of file safety_controller.hpp.

bool kobuki::SafetyController::init ( )

inlinevirtual

Set-up necessary publishers/subscribers and variables

Returns

true, if successful

Implements yocs::Controller.

Definition at line 98 of file safety_controller.hpp.

void kobuki::SafetyController::resetSafetyStatesCB ( const std_msgs::EmptyConstPtr  msg )

private

Callback for resetting safety variables.

Allows resetting bumper, cliff and wheel drop states. DANGEROUS!

Parameters

msg	incoming topic message

Definition at line 286 of file safety_controller.hpp.

void kobuki::SafetyController::spin ( )

virtual

@ brief Checks safety states and publishes velocity commands when necessary

Reimplemented from yocs::Controller.

Definition at line 299 of file safety_controller.hpp.

void kobuki::SafetyController::wheelEventCB ( const kobuki_msgs::WheelDropEventConstPtr  msg )

private

Keeps track of the wheel states.

Parameters

msg	incoming topic message

Definition at line 250 of file safety_controller.hpp.

Member Data Documentation

bool kobuki::SafetyController::bumper_center_pressed_

private

Definition at line 127 of file safety_controller.hpp.

ros::Subscriber kobuki::SafetyController::bumper_event_subscriber_

private

Definition at line 123 of file safety_controller.hpp.

bool kobuki::SafetyController::bumper_left_pressed_

private

Definition at line 127 of file safety_controller.hpp.

bool kobuki::SafetyController::bumper_right_pressed_

private

Definition at line 127 of file safety_controller.hpp.

bool kobuki::SafetyController::cliff_center_detected_

private

Definition at line 128 of file safety_controller.hpp.

ros::Subscriber kobuki::SafetyController::cliff_event_subscriber_

private

Definition at line 123 of file safety_controller.hpp.

bool kobuki::SafetyController::cliff_left_detected_

private

Definition at line 128 of file safety_controller.hpp.

bool kobuki::SafetyController::cliff_right_detected_

private

Definition at line 128 of file safety_controller.hpp.

ros::Publisher kobuki::SafetyController::controller_state_publisher_

private

Definition at line 125 of file safety_controller.hpp.

ros::Subscriber kobuki::SafetyController::disable_controller_subscriber_

private

Definition at line 122 of file safety_controller.hpp.

ros::Subscriber kobuki::SafetyController::enable_controller_subscriber_

private

Definition at line 122 of file safety_controller.hpp.

ros::Time kobuki::SafetyController::last_event_time_

private

Definition at line 130 of file safety_controller.hpp.

geometry_msgs::TwistPtr kobuki::SafetyController::msg_

private

Definition at line 132 of file safety_controller.hpp.

std::string kobuki::SafetyController::name_

private

Definition at line 121 of file safety_controller.hpp.

ros::NodeHandle kobuki::SafetyController::nh_

private

Definition at line 120 of file safety_controller.hpp.

ros::Subscriber kobuki::SafetyController::reset_safety_states_subscriber_

private

Definition at line 124 of file safety_controller.hpp.

ros::Duration kobuki::SafetyController::time_to_extend_bump_cliff_events_

private

Definition at line 129 of file safety_controller.hpp.

ros::Publisher kobuki::SafetyController::velocity_command_publisher_

private

Definition at line 125 of file safety_controller.hpp.

ros::Subscriber kobuki::SafetyController::wheel_event_subscriber_

private

Definition at line 123 of file safety_controller.hpp.

bool kobuki::SafetyController::wheel_left_dropped_

private

Definition at line 126 of file safety_controller.hpp.

bool kobuki::SafetyController::wheel_right_dropped_

private

Definition at line 126 of file safety_controller.hpp.

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

• safety_controller.hpp