segmented_arc_base_controller Namespace Reference

Functions
def	cleanup ()
def	goalCallback (data)
def	goalStatusCallback (data)
def	move (ox, oy, oth, tx, ty, tth, gth)
def	odomCallback (data)
def	pathCallback (data)

Variables
bool	followpath = False
bool	goalpose = False
bool	goalseek = False
int	goalth = 0
int	initth = 0
int	lastpath = 0
int	linearspeed = 150
	listener = tf.TransformListener()
float	listentime = 1.5
	minturn = math.radians(6)
int	nextmove = 0
int	odomth = 0
int	odomx = 0
int	odomy = 0
tuple	quaternion = (rot[0], rot[1], rot[2], rot[3])
	rot
float	secondspermeter = 3.2
float	secondspertwopi = 3.8
	t = rospy.get_time()
int	targetth = 0
int	targetx = 0
int	targety = 0
int	tfth = 0
	trans
int	turnspeed = 100

Detailed Description

listen to /move_base/TrajectoryPlannerROS/local_plan
use rotate and movedistance commands to get there, repeat
subscribe to odo so moves relative to current pos
assumes robot is stopped before running this

rosmsg show nav_msgs/Path
rosmsg show nav_msgs/Odometry
rosmsg show geometry_msgs/PoseStamped << is in map frame!!!

consider polling telnet and broadcasting odom from here, to only update odom between moves
/move_base/status  3 = goal reached, 1= accepted (read last in list)
rosmsg show actionlib_msgs/GoalStatusArray

adding initial pose to goal pose:
1st test, initial poseth -90deg: solution would be just ot add initial pose to goal pose
        gth = gth + ith
        180 = 180 + (-90)
        if dth > math.pi:
dth = -math.pi*2 + dth
        elif dth < -math.pi:
dth = math.pi*2 + dth
^^ works but not if odom gets whacked - need to use odom/map tf and ADD to goal pose diff

Function Documentation

def segmented_arc_base_controller.cleanup

(

)

Definition at line 195 of file segmented_arc_base_controller.py.

def segmented_arc_base_controller.goalCallback

(

data

)

Definition at line 78 of file segmented_arc_base_controller.py.

def segmented_arc_base_controller.goalStatusCallback

(

data

)

Definition at line 105 of file segmented_arc_base_controller.py.

def segmented_arc_base_controller.move	(		ox,
			oy,
			oth,
			tx,
			ty,
			tth,
			gth
	)

Definition at line 131 of file segmented_arc_base_controller.py.

def segmented_arc_base_controller.odomCallback

(

data

)

Definition at line 70 of file segmented_arc_base_controller.py.

def segmented_arc_base_controller.pathCallback

(

data

)

Definition at line 58 of file segmented_arc_base_controller.py.

Variable Documentation

bool segmented_arc_base_controller.followpath = False

Definition at line 44 of file segmented_arc_base_controller.py.

bool segmented_arc_base_controller.goalpose = False

Definition at line 48 of file segmented_arc_base_controller.py.

bool segmented_arc_base_controller.goalseek = False

Definition at line 49 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.goalth = 0

Definition at line 45 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.initth = 0

Definition at line 54 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.lastpath = 0

Definition at line 47 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.linearspeed = 150

Definition at line 50 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.listener = tf.TransformListener()

Definition at line 211 of file segmented_arc_base_controller.py.

float segmented_arc_base_controller.listentime = 1.5

Definition at line 36 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.minturn = math.radians(6)

Definition at line 46 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.nextmove = 0

Definition at line 37 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.odomth = 0

Definition at line 40 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.odomx = 0

Definition at line 38 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.odomy = 0

Definition at line 39 of file segmented_arc_base_controller.py.

tuple segmented_arc_base_controller.quaternion = (rot[0], rot[1], rot[2], rot[3])

Definition at line 229 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.rot

Definition at line 226 of file segmented_arc_base_controller.py.

float segmented_arc_base_controller.secondspermeter = 3.2

Definition at line 51 of file segmented_arc_base_controller.py.

float segmented_arc_base_controller.secondspertwopi = 3.8

Definition at line 53 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.t = rospy.get_time()

Definition at line 214 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.targetth = 0

Definition at line 43 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.targetx = 0

Definition at line 41 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.targety = 0

Definition at line 42 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.tfth = 0

Definition at line 56 of file segmented_arc_base_controller.py.

segmented_arc_base_controller.trans

Definition at line 226 of file segmented_arc_base_controller.py.

int segmented_arc_base_controller.turnspeed = 100

Definition at line 52 of file segmented_arc_base_controller.py.