Classes | Macros
RobotOperator.h File Reference

The core of a ROS node to provide purely reactive obstacle avoidance The RobotOperator is supposed to be placed between a path planner and a mobile robots hardware driver. It takes in motion commands defined in the robot's coordinate frame and outputs a Twist-Message to directly control a robot. The given command is continually checked against a local map updated from collected laser range data and corrected to follow a safe path. More...

#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <sensor_msgs/PointCloud.h>
#include <nav2d_operator/cmd.h>
#include <string>
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Go to the source code of this file.

Classes

class  RobotOperator
 

Macros

#define COMMAND_TOPIC   "cmd"
 
#define CONTROL_TOPIC   "cmd_vel"
 
#define LUT_RESOLUTION   100
 
#define NODE_NAME   "operator"
 
#define PLAN_TOPIC   "desired"
 
#define ROUTE_TOPIC   "route"
 

Detailed Description

The core of a ROS node to provide purely reactive obstacle avoidance The RobotOperator is supposed to be placed between a path planner and a mobile robots hardware driver. It takes in motion commands defined in the robot's coordinate frame and outputs a Twist-Message to directly control a robot. The given command is continually checked against a local map updated from collected laser range data and corrected to follow a safe path.

Definition in file RobotOperator.h.

Macro Definition Documentation

#define COMMAND_TOPIC   "cmd"

Definition at line 5 of file RobotOperator.h.

#define CONTROL_TOPIC   "cmd_vel"

Definition at line 6 of file RobotOperator.h.

#define LUT_RESOLUTION   100

Definition at line 9 of file RobotOperator.h.

#define NODE_NAME   "operator"

Definition at line 4 of file RobotOperator.h.

#define PLAN_TOPIC   "desired"

Definition at line 8 of file RobotOperator.h.

#define ROUTE_TOPIC   "route"

Definition at line 7 of file RobotOperator.h.



nav2d_operator
Author(s): Sebastian Kasperski
autogenerated on Thu Jun 6 2019 19:20:40