Implements the STDR server functionalities. More...

#include <stdr_server.h>

Public Member Functions
void	deleteRobotCallback (const stdr_msgs::DeleteRobotGoalConstPtr &goal)
	Action callback for robot deletion. More...

bool	loadExternalMapCallback (stdr_msgs::LoadExternalMap::Request &req, stdr_msgs::LoadExternalMap::Response &res)
	Service callback for loading the map from GUI. More...

bool	loadMapCallback (stdr_msgs::LoadMap::Request &req, stdr_msgs::LoadMap::Response &res)
	Service callback for loading the map. More...

void	registerRobotCallback (const stdr_msgs::RegisterRobotGoalConstPtr &goal)
	Action callback for robot registering. More...

	Server (int argc, char **argv)
	Default constructor. More...

void	spawnRobotCallback (const stdr_msgs::SpawnRobotGoalConstPtr &goal)
	Action callback for robot spawning. More...

Private Member Functions
void	activateActionServers (void)
	Initializes the spawn,delete,register action servers. More...

bool	addCO2SourceCallback (stdr_msgs::AddCO2Source::Request &req, stdr_msgs::AddCO2Source::Response &res)
	Service callback for adding new CO2 source to the environment. More...

bool	addNewRobot (stdr_msgs::RobotMsg description, stdr_msgs::SpawnRobotResult *result)
	Adds new robot to simulator. More...

bool	addRfidTagCallback (stdr_msgs::AddRfidTag::Request &req, stdr_msgs::AddRfidTag::Response &res)
	Service callback for adding new rfid tag to the environment. More...

bool	addSoundSourceCallback (stdr_msgs::AddSoundSource::Request &req, stdr_msgs::AddSoundSource::Response &res)
	Service callback for adding new sound source to the environment. More...

bool	addThermalSourceCallback (stdr_msgs::AddThermalSource::Request &req, stdr_msgs::AddThermalSource::Response &res)
	Service callback for adding new thermal source to the environment. More...

template<class SourceMsg >
visualization_msgs::Marker	createMarker (const SourceMsg &msg, bool added)
	Creates a marker message corresponding to every element of msg that is independent of the source's specific type. More...

bool	deleteCO2SourceCallback (stdr_msgs::DeleteCO2Source::Request &req, stdr_msgs::DeleteCO2Source::Response &res)
	Service callback for deleting a CO2 source from the environment. More...

bool	deleteRfidTagCallback (stdr_msgs::DeleteRfidTag::Request &req, stdr_msgs::DeleteRfidTag::Response &res)
	Service callback for deleting an rfid tag from the environment. More...

bool	deleteRobot (std::string name, stdr_msgs::DeleteRobotResult *result)
	Deletes a robot from simulator. More...

bool	deleteSoundSourceCallback (stdr_msgs::DeleteSoundSource::Request &req, stdr_msgs::DeleteSoundSource::Response &res)
	Service callback for deleting a sound source from the environment. More...

bool	deleteThermalSourceCallback (stdr_msgs::DeleteThermalSource::Request &req, stdr_msgs::DeleteThermalSource::Response &res)
	Service callback for deleting a thermal source from the environment. More...

bool	hasDublicateFrameIds (const stdr_msgs::RobotMsg &robot, std::string &f_id)

void	republishSources ()
	Republishes existing sources to RVIZ after a successful deletion. More...

visualization_msgs::Marker	toMarker (const stdr_msgs::CO2Source &msg, bool added)
	Translate the stdr_C02Source message into a marker message. More...

visualization_msgs::Marker	toMarker (const stdr_msgs::ThermalSource &msg, bool added)
	Translate the stdr_ThermalSource message into a marker message. More...

visualization_msgs::Marker	toMarker (const stdr_msgs::SoundSource &msg, bool added)
	Translate the stdr_SoundSource message into a marker message. More...

visualization_msgs::Marker	toMarker (const stdr_msgs::RfidTag &msg, bool added)
	Translate the stdr_RfidTag message into a marker message. More...

Private Attributes
ros::ServiceServer	_addCO2SourceServiceServer
	The deleteCO2Source srv server. More...

ros::ServiceServer	_addRfidTagServiceServer
	The deleteRfidTag srv server. More...

ros::ServiceServer	_addSoundSourceServiceServer
	The deleteSoundSource srv server. More...

ros::ServiceServer	_addThermalSourceServiceServer
	The deleteThermalSource srv server. More...

CO2SourceMap	_CO2SourceMap
	An std::map that contains the thermal sources existent in the environment. More...

ros::Publisher	_CO2SourceVectorPublisher
	The addThermalSource srv server. More...

boost::condition_variable	_cond
	A general Rviz publisher for all source types. More...

ros::ServiceServer	_deleteCO2SourceServiceServer
	The CO2 source list publisher towards the GUI. More...

ros::ServiceServer	_deleteRfidTagServiceServer
	The rfid tag list publisher. More...

DeleteRobotServer	_deleteRobotServer
	An std::map that contains the robots based on theor frame_id. More...

ros::ServiceServer	_deleteSoundSourceServiceServer
	The sound source list publisher. More...

ros::ServiceServer	_deleteThermalSourceServiceServer
	The thermal source list publisher. More...

int	_id
	An std::map that contains the rfid tags existent in the environment. More...

ros::ServiceServer	_loadExternalMapService
	Service server for moving robots. More...

ros::ServiceServer	_loadMapService
	Service server for loading maps from GUI. More...

MapServerPtr	_mapServer
	ROS publisher for the ensemble of robots. More...

ros::ServiceServer	_moveRobotService
	Action server for registering robots. More...

boost::mutex	_mut
	Boost condition variable for conflicting avoidance. More...

ros::NodeHandle	_nh
	A pointer to a MapServe object. More...

RegisterRobotServer	_registerRobotServer
	Action server for spawning robots. More...

RfidTagMap	_rfidTagMap
	An std::map that contains the CO2 sources existent in the environment. More...

ros::Publisher	_rfidTagVectorPublisher
	The addCO2Source srv server. More...

RobotMap	_robotMap
	Index that shows the next robot id. More...

ros::Publisher	_robotsPublisher
	Action client for robot spawning. More...

SoundSourceMap	_soundSourceMap
	Boost mutex for conflict avoidance. More...

ros::Publisher	_soundSourceVectorPublisher

ros::Publisher	_sourceVectorPublisherRviz
	The addRfidTag srv server. More...

ros::ServiceClient	_spawnRobotClient
	Action client for robot unloading. More...

SpawnRobotServer	_spawnRobotServer
	Action server for deleting robots. More...

ThermalSourceMap	_thermalSourceMap
	An std::map that contains the sound sources existent in the environment. More...

ros::Publisher	_thermalSourceVectorPublisher
	The addSoundSource srv server. More...

ros::ServiceClient	_unloadRobotClient
	Service server for loading maps from files. More...

Detailed Description

Implements the STDR server functionalities.

Definition at line 99 of file stdr_server.h.

Constructor & Destructor Documentation

stdr_server::Server::Server	(	int	argc,
		char **	argv
	)

Default constructor.

Parameters

argc	[int] Number of input arguments
argv	[char**] The input arguments

Returns: voidServices -----------------------—

< if we don't have map, no point to start servers

< Rviz publisher

< Rfid tags

< CO2 sources

< Thermal sources

< Sound sources

Definition at line 30 of file stdr_server.cpp.

Member Function Documentation

void stdr_server::Server::activateActionServers ( void )

private

Initializes the spawn,delete,register action servers.

Returns: void

Definition at line 601 of file stdr_server.cpp.

bool stdr_server::Server::addCO2SourceCallback	(	stdr_msgs::AddCO2Source::Request &	req,
		stdr_msgs::AddCO2Source::Response &	res
	)

private

Service callback for adding new CO2 source to the environment.

Parameters

req	[stdr_msgs::AddCO2Source::Request &] The request
res	[stdr_msgs::AddCO2Source::Response &] The Response

Returns: bool

< Sanity check for the source

< A source exists with the same id

< Publish the new source list to both our custom GUI and Rviz.

< Republish existing sources as markers

< Return success

Definition at line 188 of file stdr_server.cpp.

bool stdr_server::Server::addNewRobot	(	stdr_msgs::RobotMsg	description,
		stdr_msgs::SpawnRobotResult *	result
	)

private

Adds new robot to simulator.

Parameters

description	[stdr_msgs::RobotMsg] The new robot description
result	[stdr_msgs::SpawnRobotResult*] The action result

Returns: bool

< wait until robot calls RobotRegisterAction or timeout expires

Definition at line 614 of file stdr_server.cpp.

bool stdr_server::Server::addRfidTagCallback	(	stdr_msgs::AddRfidTag::Request &	req,
		stdr_msgs::AddRfidTag::Response &	res
	)

private

Service callback for adding new rfid tag to the environment.

Parameters

req	[stdr_msgs::AddRfidTag::Request &] The request
res	[stdr_msgs::AddRfidTag::Response &] The Response

Returns: bool

< Sanity check for the RFID tag

< A rfid tag exists with the same tag_id

< Publish the new RFID tag list

< Republish existing sources as markers

< Return success

Definition at line 147 of file stdr_server.cpp.

bool stdr_server::Server::addSoundSourceCallback	(	stdr_msgs::AddSoundSource::Request &	req,
		stdr_msgs::AddSoundSource::Response &	res
	)

private

Service callback for adding new sound source to the environment.

Parameters

req	[stdr_msgs::AddSoundSource::Request &] The request
res	[stdr_msgs::AddSoundSource::Response &] The Response

Returns: bool

< Sanity check for the source

< A source exists with the same id

< Publish the new source list

< Republish existing sources as markers

< Return success

Definition at line 272 of file stdr_server.cpp.

bool stdr_server::Server::addThermalSourceCallback	(	stdr_msgs::AddThermalSource::Request &	req,
		stdr_msgs::AddThermalSource::Response &	res
	)

private

Service callback for adding new thermal source to the environment.

Parameters

req	[stdr_msgs::AddThermalSource::Request &] The request
res	[stdr_msgs::AddThermalSource::Response &] The Response

Returns: bool

< Sanity check for the source

< A source exists with the same id

< Publish the new source list

< Republish existing sources as markers

< Return success

Definition at line 230 of file stdr_server.cpp.

template<class SourceMsg >

visualization_msgs::Marker stdr_server::Server::createMarker	(	const SourceMsg &	msg,
		bool	added
	)

private

Creates a marker message corresponding to every element of msg that is independent of the source's specific type.

Parameters

msg	[SourceMsg] The source message
added	[bool] True if the marker is added, false if it should be deleted

Returns: [visualization_msgs::Marker] the marker message to be published to RvizThe ROS node handle

Definition at line 885 of file stdr_server.cpp.

bool stdr_server::Server::deleteCO2SourceCallback	(	stdr_msgs::DeleteCO2Source::Request &	req,
		stdr_msgs::DeleteCO2Source::Response &	res
	)

private

Service callback for deleting a CO2 source from the environment.

Parameters

req	[stdr_msgs::DeleteCO2Source::Request &] The request
res	[stdr_msgs::DeleteCO2Source::Response &] The Response

Returns: bool

< Publish the new sources list

< Republish existing sources to RVIZ.

< Source does not exist

Definition at line 351 of file stdr_server.cpp.

bool stdr_server::Server::deleteRfidTagCallback	(	stdr_msgs::DeleteRfidTag::Request &	req,
		stdr_msgs::DeleteRfidTag::Response &	res
	)

private

Service callback for deleting an rfid tag from the environment.

Parameters

req	[stdr_msgs::DeleteRfidTag::Request &] The request
res	[stdr_msgs::DeleteRfidTag::Response &] The Response

Returns: bool

< Publish the new RFID tag list

< Republish existing sources to RVIZ.

< Tag does not exist

Definition at line 314 of file stdr_server.cpp.

bool stdr_server::Server::deleteRobot	(	std::string	name,
		stdr_msgs::DeleteRobotResult *	result
	)

private

Deletes a robot from simulator.

Parameters

name	[std::string] The robot frame_id
result	[stdr_msgs::DeleteRobotResult*] The action result

Returns: bool

Definition at line 659 of file stdr_server.cpp.

void stdr_server::Server::deleteRobotCallback ( const stdr_msgs::DeleteRobotGoalConstPtr & goal )

Action callback for robot deletion.

Parameters

goal	[const stdr_msgs::DeleteRobotGoalConstPtr&] The action goal

Returns: void

Definition at line 545 of file stdr_server.cpp.

bool stdr_server::Server::deleteSoundSourceCallback	(	stdr_msgs::DeleteSoundSource::Request &	req,
		stdr_msgs::DeleteSoundSource::Response &	res
	)

private

Service callback for deleting a sound source from the environment.

Parameters

req	[stdr_msgs::DeleteSoundSource::Request &] The request
res	[stdr_msgs::DeleteSoundSource::Response &] The Response

Returns: bool

< Publish the new sources list

< Republish existing sources to RVIZ.

< Source does not exist

Definition at line 425 of file stdr_server.cpp.

bool stdr_server::Server::deleteThermalSourceCallback	(	stdr_msgs::DeleteThermalSource::Request &	req,
		stdr_msgs::DeleteThermalSource::Response &	res
	)

private

Service callback for deleting a thermal source from the environment.

Parameters

req	[stdr_msgs::DeleteThermalSource::Request &] The request
res	[stdr_msgs::DeleteThermalSource::Response &] The Response

Returns: bool

< Publish the new sources list

< Republish existing sources to RVIZ.

< Source does not exist

Definition at line 388 of file stdr_server.cpp.

bool stdr_server::Server::hasDublicateFrameIds	(	const stdr_msgs::RobotMsg &	robot,
		std::string &	f_id
	)

private

Definition at line 692 of file stdr_server.cpp.

bool stdr_server::Server::loadExternalMapCallback	(	stdr_msgs::LoadExternalMap::Request &	req,
		stdr_msgs::LoadExternalMap::Response &	res
	)

Service callback for loading the map from GUI.

Parameters

req	[stdr_msgs::LoadExternalMap::Request&] The service request
res	[stdr_msgs::LoadExternalMap::Response&] The service response

Returns: boolActions -----------------------—

Parameters

req	[stdr_msgs::LoadExternalMap::Request&] The service request
res	[stdr_msgs::LoadExternalMap::Response&] The service response

Returns: bool

< if we don't have map, no point to start servers

Definition at line 488 of file stdr_server.cpp.

bool stdr_server::Server::loadMapCallback	(	stdr_msgs::LoadMap::Request &	req,
		stdr_msgs::LoadMap::Response &	res
	)

Service callback for loading the map.

Parameters

req	[stdr_msgs::LoadMap::Request&] The service request
res	[stdr_msgs::LoadMap::Response&] The service response

Returns: bool

< if we don't have map, no point to start servers

Definition at line 467 of file stdr_server.cpp.

void stdr_server::Server::registerRobotCallback ( const stdr_msgs::RegisterRobotGoalConstPtr & goal )

Action callback for robot registering.

Parameters

goal	[const stdr_msgs::RegisterRobotGoalConstPtr&] The action goal

Returns: void

< notify spawn action, to reply to spawnner

Definition at line 573 of file stdr_server.cpp.

void stdr_server::Server::republishSources ( )

private

Republishes existing sources to RVIZ after a successful deletion.

Returns: [void]

Definition at line 855 of file stdr_server.cpp.

void stdr_server::Server::spawnRobotCallback ( const stdr_msgs::SpawnRobotGoalConstPtr & goal )

Action callback for robot spawning.

Parameters

goal	[const stdr_msgs::SpawnRobotGoalConstPtr&] The action goal

Returns: void

< publish to active_robots topic

Definition at line 509 of file stdr_server.cpp.

visualization_msgs::Marker stdr_server::Server::toMarker	(	const stdr_msgs::CO2Source &	msg,
		bool	added
	)

private

Translate the stdr_C02Source message into a marker message.

Parameters

msg	[stdr_msgs::CO2Source] The GUI message to be translated
added	[bool] True if the marker is added, false if it should be deleted

Returns: [visualization_msgs::Marker] the marker message to be published to Rviz

Definition at line 774 of file stdr_server.cpp.

visualization_msgs::Marker stdr_server::Server::toMarker	(	const stdr_msgs::ThermalSource &	msg,
		bool	added
	)

private

Translate the stdr_ThermalSource message into a marker message.

Parameters

msg	[stdr_msgs::ThermalSource] The GUI message to be translated
added	[bool] True if the marker is added, false if it should be deleted

Returns: [visualization_msgs::Marker] the marker message to be published to Rviz

Definition at line 795 of file stdr_server.cpp.

visualization_msgs::Marker stdr_server::Server::toMarker	(	const stdr_msgs::SoundSource &	msg,
		bool	added
	)

private

Translate the stdr_SoundSource message into a marker message.

Parameters

msg	[stdr_msgs::SoundSource] The GUI message to be translated
added	[bool] True if the marker is added, false if it should be deleted

Returns: [visualization_msgs::Marker] the marker message to be published to Rviz

Definition at line 816 of file stdr_server.cpp.

visualization_msgs::Marker stdr_server::Server::toMarker	(	const stdr_msgs::RfidTag &	msg,
		bool	added
	)

private

Translate the stdr_RfidTag message into a marker message.

Translate the stdr_SoundSource message into a marker message.

Parameters

msg	[stdr_msgs::RfidTag] The GUI message to be translated
added	[bool] True if the marker is added, false if it should be deleted

Returns: [visualization_msgs::Marker] the marker message to be published to Rviz

Definition at line 837 of file stdr_server.cpp.

Member Data Documentation

ros::ServiceServer stdr_server::Server::_addCO2SourceServiceServer

private

The deleteCO2Source srv server.

Definition at line 371 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_addRfidTagServiceServer

private

The deleteRfidTag srv server.

Definition at line 363 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_addSoundSourceServiceServer

private

The deleteSoundSource srv server.

Definition at line 385 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_addThermalSourceServiceServer

private

The deleteThermalSource srv server.

Definition at line 378 of file stdr_server.h.

CO2SourceMap stdr_server::Server::_CO2SourceMap

private

An std::map that contains the thermal sources existent in the environment.

Definition at line 347 of file stdr_server.h.

ros::Publisher stdr_server::Server::_CO2SourceVectorPublisher

private

The addThermalSource srv server.

Definition at line 375 of file stdr_server.h.

boost::condition_variable stdr_server::Server::_cond

private

A general Rviz publisher for all source types.

Definition at line 356 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_deleteCO2SourceServiceServer

private

The CO2 source list publisher towards the GUI.

Definition at line 373 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_deleteRfidTagServiceServer

private

The rfid tag list publisher.

Definition at line 365 of file stdr_server.h.

DeleteRobotServer stdr_server::Server::_deleteRobotServer

private

An std::map that contains the robots based on theor frame_id.

Definition at line 337 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_deleteSoundSourceServiceServer

private

The sound source list publisher.

Definition at line 387 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_deleteThermalSourceServiceServer

private

The thermal source list publisher.

Definition at line 380 of file stdr_server.h.

int stdr_server::Server::_id

private

An std::map that contains the rfid tags existent in the environment.

Definition at line 342 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_loadExternalMapService

private

Service server for moving robots.

Definition at line 328 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_loadMapService

private

Service server for loading maps from GUI.

Definition at line 326 of file stdr_server.h.

MapServerPtr stdr_server::Server::_mapServer

private

ROS publisher for the ensemble of robots.

Definition at line 316 of file stdr_server.h.

ros::ServiceServer stdr_server::Server::_moveRobotService

private

Action server for registering robots.

Definition at line 330 of file stdr_server.h.

boost::mutex stdr_server::Server::_mut

private

Boost condition variable for conflicting avoidance.

Definition at line 354 of file stdr_server.h.

ros::NodeHandle stdr_server::Server::_nh

private

A pointer to a MapServe object.

Definition at line 314 of file stdr_server.h.

RegisterRobotServer stdr_server::Server::_registerRobotServer

private

Action server for spawning robots.

Definition at line 333 of file stdr_server.h.

RfidTagMap stdr_server::Server::_rfidTagMap

private

An std::map that contains the CO2 sources existent in the environment.

Definition at line 345 of file stdr_server.h.

ros::Publisher stdr_server::Server::_rfidTagVectorPublisher

private

The addCO2Source srv server.

Definition at line 367 of file stdr_server.h.

RobotMap stdr_server::Server::_robotMap

private

Index that shows the next robot id.

Definition at line 340 of file stdr_server.h.

ros::Publisher stdr_server::Server::_robotsPublisher

private

Action client for robot spawning.

Definition at line 319 of file stdr_server.h.

SoundSourceMap stdr_server::Server::_soundSourceMap

private

Boost mutex for conflict avoidance.

Definition at line 351 of file stdr_server.h.

ros::Publisher stdr_server::Server::_soundSourceVectorPublisher

private

Definition at line 389 of file stdr_server.h.

ros::Publisher stdr_server::Server::_sourceVectorPublisherRviz

private

The addRfidTag srv server.

Definition at line 360 of file stdr_server.h.

ros::ServiceClient stdr_server::Server::_spawnRobotClient

private

Action client for robot unloading.

Definition at line 322 of file stdr_server.h.

SpawnRobotServer stdr_server::Server::_spawnRobotServer

private

Action server for deleting robots.

Definition at line 335 of file stdr_server.h.

ThermalSourceMap stdr_server::Server::_thermalSourceMap

private

An std::map that contains the sound sources existent in the environment.

Definition at line 349 of file stdr_server.h.

ros::Publisher stdr_server::Server::_thermalSourceVectorPublisher

private

The addSoundSource srv server.

Definition at line 382 of file stdr_server.h.

ros::ServiceClient stdr_server::Server::_unloadRobotClient

private

Service server for loading maps from files.

Definition at line 324 of file stdr_server.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