Class that establishes communication between the different states and the RSM's periphery including the GUI for the states and classes defined in rsm_additions package. It offers services and publishes topics based on the variables that need to be saved during state transitions. More...

#include <AdditionsServiceProvider.h>

Public Member Functions
	AdditionsServiceProvider ()

void	publishTopics ()

	~AdditionsServiceProvider ()

Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &msg)

void	explorationGoalCallback (const rsm_msgs::GoalStatus::ConstPtr &goal_status)

void	explorationModeCallback (const std_msgs::Bool::ConstPtr &exploration_mode)

void	frontierCallback (const visualization_msgs::MarkerArray::ConstPtr &frontiers)

bool	navGoalIncludedInFrontiers ()

void	navigationGoalCallback (const move_base_msgs::MoveBaseGoalConstPtr &frontier_goal)

void	publishExplorationGoals ()

void	publishFailedGoals ()

void	publishGoalObsolete ()

bool	resetKinectPosition (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

void	reverseModeCmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_vel)

bool	setNavigationToReverse (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)

Private Attributes
std::string	_autonomy_cmd_vel_topic

bool	_calculate_goal_plugin_used

ros::Subscriber	_exploration_goal_subscriber

double	_exploration_goal_tolerance

geometry_msgs::PoseArray	_exploration_goals

ros::Publisher	_exploration_goals_publisher

bool	_exploration_mode

ros::Subscriber	_exploration_mode_subscriber

geometry_msgs::PoseArray	_failed_goals

ros::Publisher	_failed_goals_publisher

ros::ServiceClient	_get_navigation_goal_service

bool	_goal_obsolete

ros::Publisher	_goal_obsolete_publisher

ros::Publisher	_kinect_joint_controller

ros::NodeHandle	_nh

ros::ServiceServer	_reset_kinect_position_serivce

ros::Publisher	_reverse_mode_cmd_vel_publisher

ros::Subscriber	_reverse_mode_cmd_vel_subscriber

ros::ServiceServer	_set_navigation_to_reverse_service

MoveBaseActionServer *	as

ros::Subscriber	frontiers_marker_array_subscriber

Detailed Description

Class that establishes communication between the different states and the RSM's periphery including the GUI for the states and classes defined in rsm_additions package. It offers services and publishes topics based on the variables that need to be saved during state transitions.

Definition at line 31 of file AdditionsServiceProvider.h.

Constructor & Destructor Documentation

rsm::AdditionsServiceProvider::AdditionsServiceProvider ( )

Definition at line 5 of file AdditionsServiceProvider.cpp.

rsm::AdditionsServiceProvider::~AdditionsServiceProvider ( )

Definition at line 69 of file AdditionsServiceProvider.cpp.

Member Function Documentation

void rsm::AdditionsServiceProvider::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr & msg )

private

Callback for receiving autonomy cmd vel messages and save the ones not equals zero in the cirular buffer

Parameters

msg	Cmd vel autonomy message

void rsm::AdditionsServiceProvider::explorationGoalCallback ( const rsm_msgs::GoalStatus::ConstPtr & goal_status )

private

Callback for exploration goal status

Parameters

goal_status Current goal status and pose

Definition at line 125 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::explorationModeCallback ( const std_msgs::Bool::ConstPtr & exploration_mode )

private

Callback for exploration mode

Parameters

exploration_mode Exploration mode (0=complete goal, 1=interrupt goal when exploration goals vanished)

Definition at line 157 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::frontierCallback ( const visualization_msgs::MarkerArray::ConstPtr & frontiers )

private

Callback for frontier visualization generated by Explore Lite. Extracts the centers of these frontiers and saves them in a list

Parameters

frontiers Marker list containing frontiers as points and nearest frontier points for each frontier as sphere

Definition at line 134 of file AdditionsServiceProvider.cpp.

bool rsm::AdditionsServiceProvider::navGoalIncludedInFrontiers ( )

private

Checks if the current navigation goal is still present as an exploration goal

Returns: Returns true if the current navigation goal is still an exploration goal to be explored

Definition at line 169 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::navigationGoalCallback ( const move_base_msgs::MoveBaseGoalConstPtr & frontier_goal )

private

Callback for requests to the SimpleActionServer that just responds with "Goal reached"

Parameters

frontier_goal

Definition at line 102 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::publishExplorationGoals ( )

private

Publish list of extracted frontier centers for further calculation

Definition at line 107 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::publishFailedGoals ( )

private

Publish list of previously failed goals

Definition at line 113 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::publishGoalObsolete ( )

private

Publish if current exploration goal is obsolete if exploration mode is set to interrupt

Definition at line 119 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::publishTopics ( )

Definition at line 73 of file AdditionsServiceProvider.cpp.

bool rsm::AdditionsServiceProvider::resetKinectPosition	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 193 of file AdditionsServiceProvider.cpp.

void rsm::AdditionsServiceProvider::reverseModeCmdVelCallback ( const geometry_msgs::Twist::ConstPtr & cmd_vel )

private

Receives cmd vel and negate linear movement so robot goes backwards

Parameters

cmd_vel cmd vel generated for backward movement

Definition at line 90 of file AdditionsServiceProvider.cpp.

bool rsm::AdditionsServiceProvider::setNavigationToReverse	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	res
	)

private

Definition at line 83 of file AdditionsServiceProvider.cpp.

Member Data Documentation

std::string rsm::AdditionsServiceProvider::_autonomy_cmd_vel_topic

private

Topic name for the autonomy cmd vel topic to be recorded

Definition at line 64 of file AdditionsServiceProvider.h.

bool rsm::AdditionsServiceProvider::_calculate_goal_plugin_used

private

Is the Calculate Goal plugin used

Definition at line 84 of file AdditionsServiceProvider.h.

ros::Subscriber rsm::AdditionsServiceProvider::_exploration_goal_subscriber

private

Definition at line 51 of file AdditionsServiceProvider.h.

double rsm::AdditionsServiceProvider::_exploration_goal_tolerance

private

Tolerance for comparing if the current goal is still in the list of exploration goals

Definition at line 76 of file AdditionsServiceProvider.h.

geometry_msgs::PoseArray rsm::AdditionsServiceProvider::_exploration_goals

private

List of all extracted frontier centers

Definition at line 68 of file AdditionsServiceProvider.h.

ros::Publisher rsm::AdditionsServiceProvider::_exploration_goals_publisher

private

Definition at line 48 of file AdditionsServiceProvider.h.

bool rsm::AdditionsServiceProvider::_exploration_mode

private

Mode of exploration (0=complete goal, 1=interrupt goal when exploration goals vanished)

Definition at line 80 of file AdditionsServiceProvider.h.

ros::Subscriber rsm::AdditionsServiceProvider::_exploration_mode_subscriber

private

Definition at line 52 of file AdditionsServiceProvider.h.

geometry_msgs::PoseArray rsm::AdditionsServiceProvider::_failed_goals

private

List of previously failed goals

Definition at line 72 of file AdditionsServiceProvider.h.

ros::Publisher rsm::AdditionsServiceProvider::_failed_goals_publisher

private

Definition at line 45 of file AdditionsServiceProvider.h.

ros::ServiceClient rsm::AdditionsServiceProvider::_get_navigation_goal_service

private

Definition at line 49 of file AdditionsServiceProvider.h.

bool rsm::AdditionsServiceProvider::_goal_obsolete

private

Is navigation goal still an exploration goal

Definition at line 88 of file AdditionsServiceProvider.h.

ros::Publisher rsm::AdditionsServiceProvider::_goal_obsolete_publisher

private

Definition at line 50 of file AdditionsServiceProvider.h.

ros::Publisher rsm::AdditionsServiceProvider::_kinect_joint_controller

private

Definition at line 55 of file AdditionsServiceProvider.h.

ros::NodeHandle rsm::AdditionsServiceProvider::_nh

private

Definition at line 39 of file AdditionsServiceProvider.h.

ros::ServiceServer rsm::AdditionsServiceProvider::_reset_kinect_position_serivce

private

Definition at line 54 of file AdditionsServiceProvider.h.

ros::Publisher rsm::AdditionsServiceProvider::_reverse_mode_cmd_vel_publisher

private

Definition at line 43 of file AdditionsServiceProvider.h.

ros::Subscriber rsm::AdditionsServiceProvider::_reverse_mode_cmd_vel_subscriber

private

Definition at line 42 of file AdditionsServiceProvider.h.

ros::ServiceServer rsm::AdditionsServiceProvider::_set_navigation_to_reverse_service

private

Definition at line 41 of file AdditionsServiceProvider.h.

MoveBaseActionServer* rsm::AdditionsServiceProvider::as

private

SimpleActionServer for making Explore Lite run and lead it to believe it talks to Move Base

Definition at line 60 of file AdditionsServiceProvider.h.

ros::Subscriber rsm::AdditionsServiceProvider::frontiers_marker_array_subscriber

private

Definition at line 47 of file AdditionsServiceProvider.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation