yocs_safety_controller::SafetyController Class Reference

#include <safety_controller.hpp>

Inheritance diagram for yocs_safety_controller::SafetyController:

Public Member Functions
bool	init ()
	SafetyController (ros::NodeHandle &nh_priv, const std::string &name)
void	spinOnce ()
	~SafetyController ()
Public Member Functions inherited from yocs::Controller
	Controller ()
bool	disable ()
bool	enable ()
bool	getState ()
virtual void	spin ()
virtual	~Controller ()

Protected Member Functions
void	disableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for disabling the controller. More...
void	enableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for enabling the controller. More...
void	rangerCB (const sensor_msgs::RangeConstPtr msg)
	Keeps track of rangers. More...

Protected Attributes
geometry_msgs::TwistPtr	cmd_vel_msg_
ros::Publisher	controller_state_publisher_
ros::Subscriber	disable_controller_subscriber_
ros::Subscriber	enable_controller_subscriber_
std::string	name_
ros::NodeHandle	nh_priv_
bool	obstacle_detected_
ros::Subscriber	ranger_subscriber_
bool	reverse_
bool	reversing_
double	reversing_distance_
ros::Duration	reversing_duration_
ros::Time	reversing_start_
double	reversing_velocity_
ros::Publisher	velocity_command_publisher_

Detailed Description

@ brief Keeps track of ranger readings to stop your robot, if necessary

The SafetyController keeps track of ranger readings. If obstacles get too close, your robot is stopped. You can also activate the move backward option, if you like your robot to reverse a bit after stopping.

Note: Currently only supports fixed-distance rangers.

TODO: Implement logic to handle variable-distance rangers.

This controller can be enabled/disabled.

Definition at line 35 of file safety_controller.hpp.

Constructor & Destructor Documentation

yocs_safety_controller::SafetyController::SafetyController	(	ros::NodeHandle &	nh_priv,
		const std::string &	name
	)

Definition at line 12 of file library.cpp.

yocs_safety_controller::SafetyController::~SafetyController ( )

inline

Definition at line 39 of file safety_controller.hpp.

Member Function Documentation

void yocs_safety_controller::SafetyController::disableCB ( const std_msgs::EmptyConstPtr  msg )

protected

ROS logging output for disabling the controller.

Parameters

msg	incoming topic message

Definition at line 69 of file library.cpp.

void yocs_safety_controller::SafetyController::enableCB ( const std_msgs::EmptyConstPtr  msg )

protected

ROS logging output for enabling the controller.

Parameters

msg	incoming topic message

Definition at line 57 of file library.cpp.

bool yocs_safety_controller::SafetyController::init ( )

virtual

Set-up necessary publishers/subscribers and variables

Returns

true, if successful

Implements yocs::Controller.

Definition at line 26 of file library.cpp.

void yocs_safety_controller::SafetyController::rangerCB ( const sensor_msgs::RangeConstPtr  msg )

protected

Keeps track of rangers.

Parameters

msg	incoming topic message

Definition at line 81 of file library.cpp.

void yocs_safety_controller::SafetyController::spinOnce

(

)

@ brief Checks safety states and publishes velocity commands when necessary

Definition at line 94 of file library.cpp.

Member Data Documentation

geometry_msgs::TwistPtr yocs_safety_controller::SafetyController::cmd_vel_msg_

protected

Definition at line 58 of file safety_controller.hpp.

ros::Publisher yocs_safety_controller::SafetyController::controller_state_publisher_

protected

Definition at line 57 of file safety_controller.hpp.

ros::Subscriber yocs_safety_controller::SafetyController::disable_controller_subscriber_

protected

Definition at line 56 of file safety_controller.hpp.

ros::Subscriber yocs_safety_controller::SafetyController::enable_controller_subscriber_

protected

Definition at line 56 of file safety_controller.hpp.

std::string yocs_safety_controller::SafetyController::name_

protected

Definition at line 55 of file safety_controller.hpp.

ros::NodeHandle yocs_safety_controller::SafetyController::nh_priv_

protected

Definition at line 54 of file safety_controller.hpp.

bool yocs_safety_controller::SafetyController::obstacle_detected_

protected

Indicates whether an obstacle has been detected

Definition at line 63 of file safety_controller.hpp.

ros::Subscriber yocs_safety_controller::SafetyController::ranger_subscriber_

protected

Definition at line 56 of file safety_controller.hpp.

bool yocs_safety_controller::SafetyController::reverse_

protected

Indicates whether to reverse after an obstacle has been detected

Definition at line 67 of file safety_controller.hpp.

bool yocs_safety_controller::SafetyController::reversing_

protected

Reversing state

Definition at line 71 of file safety_controller.hpp.

double yocs_safety_controller::SafetyController::reversing_distance_

protected

the total distance the robot will reverse in [m](configurable)

Definition at line 79 of file safety_controller.hpp.

ros::Duration yocs_safety_controller::SafetyController::reversing_duration_

protected

max. duration the robot will reverse in [s] automatically calculated based on reversing_distance_ and reversing_speed_

Definition at line 88 of file safety_controller.hpp.

ros::Time yocs_safety_controller::SafetyController::reversing_start_

protected

the time robot started reversing

Definition at line 75 of file safety_controller.hpp.

double yocs_safety_controller::SafetyController::reversing_velocity_

protected

how fast the robot should move, when reversing in [m/s] (configurable)

Definition at line 83 of file safety_controller.hpp.

ros::Publisher yocs_safety_controller::SafetyController::velocity_command_publisher_

protected

Definition at line 57 of file safety_controller.hpp.

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

• safety_controller.hpp
• library.cpp