State being active when the robot should move to a previously set goal. First obtains the goal and then tries to reach it using the Move Base package. State is exited when the goal was reached, aborted or an interrupt occured. More...

#include <NavigationState.h>

Inheritance diagram for rsm::NavigationState:

[legend]

Public Member Functions
	NavigationState ()

void	onActive ()

void	onEntry ()

void	onExit ()

void	onExplorationStart (bool &success, std::string &message)

void	onExplorationStop (bool &success, std::string &message)

void	onInterrupt (int interrupt)
	Called when an operation mode interrupt was received. More...

void	onSetup ()

void	onWaypointFollowingStart (bool &success, std::string &message)

void	onWaypointFollowingStop (bool &success, std::string &message)

	~NavigationState ()

Public Member Functions inherited from rsm::BaseState
	BaseState ()

std::string	getName ()

StateInterface *	getStateInterface ()

void	setStateInterface (StateInterface *stateinterface)

virtual	~BaseState ()

Private Types
typedef actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction >	MoveBaseClient

Private Member Functions
void	abortNavigation ()

void	comparePose ()

void	goalObsoleteCallback (const std_msgs::Bool::ConstPtr &msg)

void	operationModeCallback (const rsm_msgs::OperationMode::ConstPtr &operation_mode)

void	reverseModeCallback (const std_msgs::Bool::ConstPtr &reverse_mode)

void	timerCallback (const ros::TimerEvent &event)
	Callback for idle timer. More...

Additional Inherited Members
Protected Attributes inherited from rsm::BaseState
bool	_interrupt_occured

std::string	_name

StateInterface *	_stateinterface

Detailed Description

State being active when the robot should move to a previously set goal. First obtains the goal and then tries to reach it using the Move Base package. State is exited when the goal was reached, aborted or an interrupt occured.

Definition at line 30 of file NavigationState.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> rsm::NavigationState::MoveBaseClient

private

Definition at line 92 of file NavigationState.h.

Constructor & Destructor Documentation

rsm::NavigationState::NavigationState ( )

Constructor

Definition at line 5 of file NavigationState.cpp.

rsm::NavigationState::~NavigationState ( )

Destructor

Definition at line 8 of file NavigationState.cpp.

Member Function Documentation

void rsm::NavigationState::abortNavigation ( )

private

Initiate transition to Idle State

Definition at line 362 of file NavigationState.cpp.

void rsm::NavigationState::comparePose ( )

private

Check if the robot's pose changed and reset idle timer if it did, restart it if not

Definition at line 299 of file NavigationState.cpp.

void rsm::NavigationState::goalObsoleteCallback ( const std_msgs::Bool::ConstPtr & msg )

private

Callback for checking if the current exploration goal is still viable or already obsolete, only checked for exploration mode 'interrupting"

Parameters

msg	Is goal obsolete or not

Definition at line 330 of file NavigationState.cpp.

void rsm::NavigationState::onActive ( )

virtual

Process method (step-wise, never block this method)

Implements rsm::BaseState.

Definition at line 96 of file NavigationState.cpp.

void rsm::NavigationState::onEntry ( )

virtual

Called once when activated

Reimplemented from rsm::BaseState.

Definition at line 38 of file NavigationState.cpp.

void rsm::NavigationState::onExit ( )

virtual

Called once when left

Reimplemented from rsm::BaseState.

Definition at line 169 of file NavigationState.cpp.

void rsm::NavigationState::onExplorationStart	(	bool &	success,
		std::string &	message
	)

virtual

Called when exploration was started manually

Reimplemented from rsm::BaseState.

Definition at line 182 of file NavigationState.cpp.

void rsm::NavigationState::onExplorationStop	(	bool &	success,
		std::string &	message
	)

virtual

Called when exploration was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 203 of file NavigationState.cpp.

void rsm::NavigationState::onInterrupt ( int interrupt )

virtual

Called when an operation mode interrupt was received.

Parameters

interrupt Kind of interrupt (0=EmergencyStop, 1=TeleoperationInterupt)

Reimplemented from rsm::BaseState.

Definition at line 267 of file NavigationState.cpp.

void rsm::NavigationState::onSetup ( )

virtual

Called once when registered at StateInterface

Reimplemented from rsm::BaseState.

Definition at line 11 of file NavigationState.cpp.

void rsm::NavigationState::onWaypointFollowingStart	(	bool &	success,
		std::string &	message
	)

virtual

Called when waypoint following was started/paused manually

Reimplemented from rsm::BaseState.

Definition at line 225 of file NavigationState.cpp.

void rsm::NavigationState::onWaypointFollowingStop	(	bool &	success,
		std::string &	message
	)

virtual

Called when waypoint following was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 244 of file NavigationState.cpp.

void rsm::NavigationState::operationModeCallback ( const rsm_msgs::OperationMode::ConstPtr & operation_mode )

private

Callback for Operation mode to only enable the idle timer when operation mode is set to autonomous

Parameters

operation_mode Mode of operation (0=stopped, 1=autonomous, 2=teleoperation)

Definition at line 357 of file NavigationState.cpp.

void rsm::NavigationState::reverseModeCallback ( const std_msgs::Bool::ConstPtr & reverse_mode )

private

Callback for checking if reverse mode changed and if it did, reset SimpleActionClient to interface the Move Base node for reverse movement

Parameters

reverse_mode Is reverse mode active or not

Definition at line 340 of file NavigationState.cpp.

void rsm::NavigationState::timerCallback ( const ros::TimerEvent & event )

private

Callback for idle timer.

Parameters

event

Definition at line 294 of file NavigationState.cpp.

Member Data Documentation

int rsm::NavigationState::_comparison_counter

private

Counter for comparing last with current pose only every 5th call

Definition at line 128 of file NavigationState.h.

bool rsm::NavigationState::_exploration_mode

private

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

Definition at line 132 of file NavigationState.h.

ros::ServiceClient rsm::NavigationState::_get_exploration_mode_service

private

Definition at line 99 of file NavigationState.h.

ros::Subscriber rsm::NavigationState::_get_goal_obsolete_subscriber

private

Definition at line 101 of file NavigationState.h.

ros::ServiceClient rsm::NavigationState::_get_navigation_goal_service

private

Definition at line 96 of file NavigationState.h.

ros::ServiceClient rsm::NavigationState::_get_reverse_mode_service

private

Definition at line 100 of file NavigationState.h.

ros::ServiceClient rsm::NavigationState::_get_robot_pose_service

private

Definition at line 98 of file NavigationState.h.

bool rsm::NavigationState::_goal_active

private

Is goal currently active or does it need to be set first

Definition at line 112 of file NavigationState.h.

ros::Timer rsm::NavigationState::_idle_timer

private

Definition at line 103 of file NavigationState.h.

tf::Pose rsm::NavigationState::_last_pose

private

Last pose of the robot

Definition at line 124 of file NavigationState.h.

boost::shared_ptr<MoveBaseClient> rsm::NavigationState::_move_base_client

private

Definition at line 93 of file NavigationState.h.

geometry_msgs::Pose rsm::NavigationState::_nav_goal

private

Navigation goal to reach

Definition at line 108 of file NavigationState.h.

int rsm::NavigationState::_navigation_completed_status

private

Was the navigation goal successfully reached or not or aborted

Definition at line 144 of file NavigationState.h.

ros::ServiceClient rsm::NavigationState::_navigation_goal_completed_service

private

Definition at line 97 of file NavigationState.h.

int rsm::NavigationState::_navigation_mode

private

Mode of navigation (Exploration=0, Waypoint following=1 and Simple Goal=2)

Definition at line 116 of file NavigationState.h.

ros::NodeHandle rsm::NavigationState::_nh

private

Definition at line 95 of file NavigationState.h.

int rsm::NavigationState::_operation_mode

private

Currently active mode of operation (0=stopped, 1=autonomous, 2=teleoperation)

Definition at line 140 of file NavigationState.h.

bool rsm::NavigationState::_reverse_mode

private

Is robot driving in reverse or not

Definition at line 136 of file NavigationState.h.

ros::Subscriber rsm::NavigationState::_reverse_mode_subscriber

private

Definition at line 102 of file NavigationState.h.

std::string rsm::NavigationState::_routine

private

Routine to be executed when reaching waypoint

Definition at line 120 of file NavigationState.h.

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

Private Attributes
int	_comparison_counter

bool	_exploration_mode

ros::ServiceClient	_get_exploration_mode_service

ros::Subscriber	_get_goal_obsolete_subscriber

ros::ServiceClient	_get_navigation_goal_service

ros::ServiceClient	_get_reverse_mode_service

ros::ServiceClient	_get_robot_pose_service

bool	_goal_active

ros::Timer	_idle_timer

tf::Pose	_last_pose

boost::shared_ptr< MoveBaseClient >	_move_base_client

geometry_msgs::Pose	_nav_goal

int	_navigation_completed_status

ros::ServiceClient	_navigation_goal_completed_service

int	_navigation_mode

ros::NodeHandle	_nh

int	_operation_mode

bool	_reverse_mode

ros::Subscriber	_reverse_mode_subscriber

std::string	_routine

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation