Public Member Functions | Private Member Functions | Private Attributes | List of all members
MoveBasic Class Reference

Public Member Functions

 MoveBasic ()
 
bool moveLinear (tf2::Transform &goalInDriving, const std::string &drivingFrame, tf2::Transform &goalInPlanning, const std::string &planningFrame)
 
bool rotate (double requestedYaw, const std::string &drivingFrame)
 
void run ()
 

Private Member Functions

void abortGoal (const std::string msg)
 
void drawLine (double x0, double y0, double x1, double y1)
 
void dynamicReconfigCallback (move_basic::MovebasicConfig &config, uint32_t)
 
void executeAction (const move_base_msgs::MoveBaseGoalConstPtr &goal)
 
bool getTransform (const std::string &from, const std::string &to, tf2::Transform &tf)
 
void goalCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
 
void sendCmd (double angular, double linear)
 
void stopCallback (const std_msgs::Bool::ConstPtr &msg)
 
bool transformPose (const std::string &from, const std::string &to, const tf2::Transform &in, tf2::Transform &out)
 

Private Attributes

std::unique_ptr< MoveBaseActionServer > actionServer
 
std::string alternateDrivingFrame
 
std::string alternatePlanningFrame
 
double angularTolerance
 
std::string baseFrame
 
ros::Publisher cmdPub
 
std::unique_ptr< CollisionChecker > collision_checker
 
dynamic_reconfigure::Server< move_basic::MovebasicConfig > dr_srv
 
ros::Publisher errorPub
 
tf2::Vector3 forwardLeft
 
float forwardObstacleDist
 
double forwardObstacleThreshold
 
tf2::Vector3 forwardRight
 
ros::Publisher goalPub
 
ros::Subscriber goalSub
 
double lateralKd
 
double lateralKi
 
double lateralKp
 
float leftObstacleDist
 
double linearAcceleration
 
double linearTolerance
 
tf2_ros::TransformListener listener
 
double localizationLatency
 
double maxLateralVelocity
 
double maxLinearVelocity
 
double maxTurningVelocity
 
double minLinearVelocity
 
double minSideDist
 
double minTurningVelocity
 
std::unique_ptr< ObstaclePoints > obstacle_points
 
ros::Publisher obstacleDistPub
 
double obstacleWaitThreshold
 
ros::Publisher pathPub
 
std::string preferredDrivingFrame
 
std::string preferredPlanningFrame
 
float rightObstacleDist
 
double runawayTimeoutSecs
 
bool stop
 
ros::Subscriber stopSub
 
tf2_ros::Buffer tfBuffer
 
double turningAcceleration
 

Detailed Description

Definition at line 56 of file move_basic.cpp.

Constructor & Destructor Documentation

◆ MoveBasic()

MoveBasic::MoveBasic ( )

Definition at line 179 of file move_basic.cpp.

Member Function Documentation

◆ abortGoal()

void MoveBasic::abortGoal ( const std::string  msg)
private

Definition at line 345 of file move_basic.cpp.

◆ drawLine()

void MoveBasic::drawLine ( double  x0,
double  y0,
double  x1,
double  y1 
)
private

◆ dynamicReconfigCallback()

void MoveBasic::dynamicReconfigCallback ( move_basic::MovebasicConfig &  config,
uint32_t   
)
private

Definition at line 294 of file move_basic.cpp.

◆ executeAction()

void MoveBasic::executeAction ( const move_base_msgs::MoveBaseGoalConstPtr &  goal)
private

Definition at line 354 of file move_basic.cpp.

◆ getTransform()

bool MoveBasic::getTransform ( const std::string &  from,
const std::string &  to,
tf2::Transform &  tf 
)
private

Definition at line 265 of file move_basic.cpp.

◆ goalCallback()

void MoveBasic::goalCallback ( const geometry_msgs::PoseStamped::ConstPtr &  msg)
private

Definition at line 330 of file move_basic.cpp.

◆ moveLinear()

bool MoveBasic::moveLinear ( tf2::Transform &  goalInDriving,
const std::string &  drivingFrame,
tf2::Transform &  goalInPlanning,
const std::string &  planningFrame 
)

Definition at line 626 of file move_basic.cpp.

◆ rotate()

bool MoveBasic::rotate ( double  requestedYaw,
const std::string &  drivingFrame 
)

Definition at line 554 of file move_basic.cpp.

◆ run()

void MoveBasic::run ( )

Definition at line 530 of file move_basic.cpp.

◆ sendCmd()

void MoveBasic::sendCmd ( double  angular,
double  linear 
)
private

Definition at line 514 of file move_basic.cpp.

◆ stopCallback()

void MoveBasic::stopCallback ( const std_msgs::Bool::ConstPtr &  msg)
private

Definition at line 322 of file move_basic.cpp.

◆ transformPose()

bool MoveBasic::transformPose ( const std::string &  from,
const std::string &  to,
const tf2::Transform &  in,
tf2::Transform &  out 
)
private

Definition at line 281 of file move_basic.cpp.

Member Data Documentation

◆ actionServer

std::unique_ptr<MoveBaseActionServer> MoveBasic::actionServer
private

Definition at line 67 of file move_basic.cpp.

◆ alternateDrivingFrame

std::string MoveBasic::alternateDrivingFrame
private

Definition at line 105 of file move_basic.cpp.

◆ alternatePlanningFrame

std::string MoveBasic::alternatePlanningFrame
private

Definition at line 103 of file move_basic.cpp.

◆ angularTolerance

double MoveBasic::angularTolerance
private

Definition at line 77 of file move_basic.cpp.

◆ baseFrame

std::string MoveBasic::baseFrame
private

Definition at line 106 of file move_basic.cpp.

◆ cmdPub

ros::Publisher MoveBasic::cmdPub
private

Definition at line 62 of file move_basic.cpp.

◆ collision_checker

std::unique_ptr<CollisionChecker> MoveBasic::collision_checker
private

Definition at line 68 of file move_basic.cpp.

◆ dr_srv

dynamic_reconfigure::Server<move_basic::MovebasicConfig> MoveBasic::dr_srv
private

Definition at line 108 of file move_basic.cpp.

◆ errorPub

ros::Publisher MoveBasic::errorPub
private

Definition at line 65 of file move_basic.cpp.

◆ forwardLeft

tf2::Vector3 MoveBasic::forwardLeft
private

Definition at line 99 of file move_basic.cpp.

◆ forwardObstacleDist

float MoveBasic::forwardObstacleDist
private

Definition at line 96 of file move_basic.cpp.

◆ forwardObstacleThreshold

double MoveBasic::forwardObstacleThreshold
private

Definition at line 90 of file move_basic.cpp.

◆ forwardRight

tf2::Vector3 MoveBasic::forwardRight
private

Definition at line 100 of file move_basic.cpp.

◆ goalPub

ros::Publisher MoveBasic::goalPub
private

Definition at line 61 of file move_basic.cpp.

◆ goalSub

ros::Subscriber MoveBasic::goalSub
private

Definition at line 58 of file move_basic.cpp.

◆ lateralKd

double MoveBasic::lateralKd
private

Definition at line 87 of file move_basic.cpp.

◆ lateralKi

double MoveBasic::lateralKi
private

Definition at line 86 of file move_basic.cpp.

◆ lateralKp

double MoveBasic::lateralKp
private

Definition at line 85 of file move_basic.cpp.

◆ leftObstacleDist

float MoveBasic::leftObstacleDist
private

Definition at line 97 of file move_basic.cpp.

◆ linearAcceleration

double MoveBasic::linearAcceleration
private

Definition at line 82 of file move_basic.cpp.

◆ linearTolerance

double MoveBasic::linearTolerance
private

Definition at line 83 of file move_basic.cpp.

◆ listener

tf2_ros::TransformListener MoveBasic::listener
private

Definition at line 72 of file move_basic.cpp.

◆ localizationLatency

double MoveBasic::localizationLatency
private

Definition at line 92 of file move_basic.cpp.

◆ maxLateralVelocity

double MoveBasic::maxLateralVelocity
private

Definition at line 78 of file move_basic.cpp.

◆ maxLinearVelocity

double MoveBasic::maxLinearVelocity
private

Definition at line 80 of file move_basic.cpp.

◆ maxTurningVelocity

double MoveBasic::maxTurningVelocity
private

Definition at line 75 of file move_basic.cpp.

◆ minLinearVelocity

double MoveBasic::minLinearVelocity
private

Definition at line 81 of file move_basic.cpp.

◆ minSideDist

double MoveBasic::minSideDist
private

Definition at line 91 of file move_basic.cpp.

◆ minTurningVelocity

double MoveBasic::minTurningVelocity
private

Definition at line 74 of file move_basic.cpp.

◆ obstacle_points

std::unique_ptr<ObstaclePoints> MoveBasic::obstacle_points
private

Definition at line 69 of file move_basic.cpp.

◆ obstacleDistPub

ros::Publisher MoveBasic::obstacleDistPub
private

Definition at line 64 of file move_basic.cpp.

◆ obstacleWaitThreshold

double MoveBasic::obstacleWaitThreshold
private

Definition at line 89 of file move_basic.cpp.

◆ pathPub

ros::Publisher MoveBasic::pathPub
private

Definition at line 63 of file move_basic.cpp.

◆ preferredDrivingFrame

std::string MoveBasic::preferredDrivingFrame
private

Definition at line 104 of file move_basic.cpp.

◆ preferredPlanningFrame

std::string MoveBasic::preferredPlanningFrame
private

Definition at line 102 of file move_basic.cpp.

◆ rightObstacleDist

float MoveBasic::rightObstacleDist
private

Definition at line 98 of file move_basic.cpp.

◆ runawayTimeoutSecs

double MoveBasic::runawayTimeoutSecs
private

Definition at line 93 of file move_basic.cpp.

◆ stop

bool MoveBasic::stop
private

Definition at line 94 of file move_basic.cpp.

◆ stopSub

ros::Subscriber MoveBasic::stopSub
private

Definition at line 59 of file move_basic.cpp.

◆ tfBuffer

tf2_ros::Buffer MoveBasic::tfBuffer
private

Definition at line 71 of file move_basic.cpp.

◆ turningAcceleration

double MoveBasic::turningAcceleration
private

Definition at line 76 of file move_basic.cpp.

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

move_basic
Author(s): Jim Vaughan
autogenerated on Mon Feb 28 2022 22:49:55