ReactiveNav2DNode Class Reference

Classes
struct	MyReactiveInterface
struct	TAuxInitializer

Public Member Functions
void	navigateTo (const mrpt::math::TPose2D &target)
	Issue a navigation command. More...
void	onDoNavigation (const ros::TimerEvent &)
void	onRosGoalReceived (const geometry_msgs::PoseStampedConstPtr &trg_ptr)
void	onRosLocalObstacles (const sensor_msgs::PointCloudConstPtr &obs)
void	onRosSetRobotShape (const geometry_msgs::PolygonConstPtr &newShape)
	ReactiveNav2DNode (int argc, char **argv)

Private Attributes
bool	m_1st_time_init
	Reactive initialization done? More...
TAuxInitializer	m_auxinit
	Just to make sure ROS is init first. More...
std::string	m_frameid_reference
std::string	m_frameid_robot
CSimplePointsMap	m_last_obstacles
std::mutex	m_last_obstacles_cs
ros::NodeHandle	m_localn
	"~" More...
double	m_nav_period
ros::NodeHandle	m_nh
	The node handle. More...
CTimeLogger	m_profiler
std::string	m_pub_topic_reactive_nav_goal
MyReactiveInterface	m_reactive_if
CReactiveNavigationSystem	m_reactive_nav_engine
std::mutex	m_reactive_nav_engine_cs
bool	m_save_nav_log
std::string	m_sub_topic_local_obstacles
std::string	m_sub_topic_robot_shape
double	m_target_allowed_distance
ros::Timer	m_timer_run_nav
ROS pubs/subs
ros::Subscriber	m_sub_nav_goal
ros::Subscriber	m_sub_local_obs
ros::Subscriber	m_sub_robot_shape
ros::Publisher	m_pub_cmd_vel
tf::TransformListener	m_tf_listener
	Use to retrieve TF data. More...

Detailed Description

Definition at line 75 of file mrpt_reactivenav2d_node.cpp.

Constructor & Destructor Documentation

ReactiveNav2DNode::ReactiveNav2DNode ( int  argc, char **  argv  )

inline

Constructor: Inits ROS system

Definition at line 262 of file mrpt_reactivenav2d_node.cpp.

Member Function Documentation

void ReactiveNav2DNode::navigateTo ( const mrpt::math::TPose2D &  target )

inline

Issue a navigation command.

Parameters

target

The target location

Definition at line 366 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onDoNavigation ( const ros::TimerEvent &  )

inline

Callback: On run navigation

Definition at line 391 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosGoalReceived ( const geometry_msgs::PoseStampedConstPtr &  trg_ptr )

inline

Definition at line 414 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosLocalObstacles ( const sensor_msgs::PointCloudConstPtr &  obs )

inline

Definition at line 443 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosSetRobotShape ( const geometry_msgs::PolygonConstPtr &  newShape )

inline

Definition at line 451 of file mrpt_reactivenav2d_node.cpp.

Member Data Documentation

bool ReactiveNav2DNode::m_1st_time_init

private

Reactive initialization done?

Definition at line 100 of file mrpt_reactivenav2d_node.cpp.

TAuxInitializer ReactiveNav2DNode::m_auxinit

private

Just to make sure ROS is init first.

Definition at line 87 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_frameid_reference

private

Definition at line 108 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_frameid_robot

private

Definition at line 109 of file mrpt_reactivenav2d_node.cpp.

CSimplePointsMap ReactiveNav2DNode::m_last_obstacles

private

Definition at line 115 of file mrpt_reactivenav2d_node.cpp.

std::mutex ReactiveNav2DNode::m_last_obstacles_cs

private

Definition at line 116 of file mrpt_reactivenav2d_node.cpp.

ros::NodeHandle ReactiveNav2DNode::m_localn

private

"~"

Definition at line 89 of file mrpt_reactivenav2d_node.cpp.

double ReactiveNav2DNode::m_nav_period

private

Definition at line 102 of file mrpt_reactivenav2d_node.cpp.

ros::NodeHandle ReactiveNav2DNode::m_nh

private

The node handle.

Definition at line 88 of file mrpt_reactivenav2d_node.cpp.

CTimeLogger ReactiveNav2DNode::m_profiler

private

Definition at line 86 of file mrpt_reactivenav2d_node.cpp.

ros::Publisher ReactiveNav2DNode::m_pub_cmd_vel

private

Definition at line 96 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_pub_topic_reactive_nav_goal

private

Definition at line 104 of file mrpt_reactivenav2d_node.cpp.

MyReactiveInterface ReactiveNav2DNode::m_reactive_if

private

Definition at line 255 of file mrpt_reactivenav2d_node.cpp.

CReactiveNavigationSystem ReactiveNav2DNode::m_reactive_nav_engine

private

Definition at line 257 of file mrpt_reactivenav2d_node.cpp.

std::mutex ReactiveNav2DNode::m_reactive_nav_engine_cs

private

Definition at line 258 of file mrpt_reactivenav2d_node.cpp.

bool ReactiveNav2DNode::m_save_nav_log

private

Definition at line 111 of file mrpt_reactivenav2d_node.cpp.

ros::Subscriber ReactiveNav2DNode::m_sub_local_obs

private

Definition at line 94 of file mrpt_reactivenav2d_node.cpp.

ros::Subscriber ReactiveNav2DNode::m_sub_nav_goal

private

Definition at line 93 of file mrpt_reactivenav2d_node.cpp.

ros::Subscriber ReactiveNav2DNode::m_sub_robot_shape

private

Definition at line 95 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_sub_topic_local_obstacles

private

Definition at line 105 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_sub_topic_robot_shape

private

Definition at line 106 of file mrpt_reactivenav2d_node.cpp.

double ReactiveNav2DNode::m_target_allowed_distance

private

Definition at line 101 of file mrpt_reactivenav2d_node.cpp.

tf::TransformListener ReactiveNav2DNode::m_tf_listener

private

Use to retrieve TF data.

Definition at line 97 of file mrpt_reactivenav2d_node.cpp.

ros::Timer ReactiveNav2DNode::m_timer_run_nav

private

Definition at line 113 of file mrpt_reactivenav2d_node.cpp.

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

• mrpt_reactivenav2d_node.cpp