A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...

Public Member Functions
bool	computeVelocityCommands (const geometry_msgs::Twist::ConstPtr &vel, geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...

	SafeTrajectoryPlannerROS (TFListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper. More...

	~SafeTrajectoryPlannerROS ()
	Destructor for the wrapper. More...

Private Member Functions
bool	clearCostmapsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

void	cmdCallback (const geometry_msgs::Twist::ConstPtr &vel)

double	distance (double x1, double y1, double x2, double y2)
	Compute the distance between two points. More...

std::vector< double >	loadYVels (ros::NodeHandle node)

void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a)
	Publish a plan for visualization purposes. More...

bool	stopped ()
	Check whether the robot is stopped or not. More...

bool	transformGlobalPlan (std::vector< geometry_msgs::PoseStamped > &transformed_plan)
	Transforms the global plan of the robot from the planner frame to the local frame. More...

Private Attributes
nav_msgs::Odometry	base_odom_
	Used to get the velocity of the robot. More...

double	circumscribed_radius_

ros::ServiceServer	clear_costmaps_srv_

ros::Publisher	cmd_pub_

ros::Subscriber	cmd_sub_

costmap_2d::Costmap2D	costmap_
	The costmap the controller will use. More...

costmap_2d::Costmap2DROS *	costmap_ros_
	The ROS wrapper for the costmap the controller will use. More...

std::string	global_frame_
	The frame in which the controller will run. More...

double	inscribed_radius_

ros::Publisher	l_plan_pub_

double	max_sensor_range_
	Keep track of the effective maximum range of our sensors. More...

double	max_vel_th_

double	min_vel_th_

ros::NodeHandle	nh_

boost::recursive_mutex	odom_lock_

ros::Subscriber	odom_sub_

std::string	robot_base_frame_
	Used as the base frame id of the robot. More...

double	rot_stopped_velocity_

bool	safe_backwards_

SafeTrajectoryPlanner *	tc_
	The trajectory controller. More...

TFListener *	tf_
	Used for transforming point clouds. More...

double	trans_stopped_velocity_

ros::Publisher	u_plan_pub_

ros::Subscriber	user_sub_

base_local_planner::WorldModel *	world_model_
	The world model that the controller will use. More...

Detailed Description

A ROS wrapper for the trajectory controller that queries the param server to construct a controller.

Constructor & Destructor Documentation

safe_teleop::SafeTrajectoryPlannerROS::SafeTrajectoryPlannerROS	(	TFListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructs the ros wrapper.

Parameters

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

safe_teleop::SafeTrajectoryPlannerROS::~SafeTrajectoryPlannerROS ( )

Destructor for the wrapper.

bool safe_teleop::SafeTrajectoryPlannerROS::clearCostmapsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

private

void safe_teleop::SafeTrajectoryPlannerROS::cmdCallback ( const geometry_msgs::Twist::ConstPtr & vel )

private

bool safe_teleop::SafeTrajectoryPlannerROS::computeVelocityCommands	(	const geometry_msgs::Twist::ConstPtr &	vel,
		geometry_msgs::Twist &	cmd_vel
	)

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters

vel	Velocity received from user
cmd_vel	Will be filled with the velocity command to be passed to the robot base

double safe_teleop::SafeTrajectoryPlannerROS::distance	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

private

Compute the distance between two points.

Parameters

std::vector< double > safe_teleop::SafeTrajectoryPlannerROS::loadYVels ( ros::NodeHandle node )

private

void safe_teleop::SafeTrajectoryPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

private

void safe_teleop::SafeTrajectoryPlannerROS::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const ros::Publisher &	pub,
		double	r,
		double	g,
		double	b,
		double	a
	)