IRI ROS Specific Algorithm Class. More...
#include <dabo_coop_alg_node.h>
IRI ROS Specific Algorithm Class.
Definition at line 60 of file dabo_coop_alg_node.h.
DaboCoopAlgNode::DaboCoopAlgNode | ( | void | ) |
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 4 of file dabo_coop_alg_node.cpp.
DaboCoopAlgNode::~DaboCoopAlgNode | ( | void | ) |
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 62 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::addNodeDiagnostics | ( | void | ) | [protected, virtual] |
node add diagnostics
In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.
Implements algorithm_base::IriBaseAlgorithm< DaboCoopAlgorithm >.
Definition at line 780 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::car_dabo_actionGetFeedbackCallback | ( | tibi_dabo_msgs::guiFeedbackPtr & | feedback | ) | [private] |
Definition at line 531 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::car_dabo_actionGetResultCallback | ( | tibi_dabo_msgs::guiResultPtr & | result | ) | [private] |
Definition at line 523 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::car_dabo_actionHasSucceedCallback | ( | void | ) | [private] |
Definition at line 511 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::car_dabo_actionIsFinishedCallback | ( | void | ) | [private] |
Definition at line 492 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::car_dabo_actionStartCallback | ( | const tibi_dabo_msgs::guiGoalConstPtr & | goal | ) | [private] |
Definition at line 457 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::car_dabo_actionStopCallback | ( | void | ) | [private] |
Definition at line 483 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::dabo_car_actionActive | ( | ) | [private] |
Definition at line 436 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::dabo_car_actionDone | ( | const actionlib::SimpleClientGoalState & | state, |
const tibi_dabo_msgs::guiResultConstPtr & | result | ||
) | [private] |
Definition at line 424 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::dabo_car_actionFeedback | ( | const tibi_dabo_msgs::guiFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 441 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::dabo_car_actionMakeActionRequest | ( | ) | [private] |
Definition at line 706 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::dabo_tibi_actionActive | ( | ) | [private] |
Definition at line 403 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::dabo_tibi_actionDone | ( | const actionlib::SimpleClientGoalState & | state, |
const tibi_dabo_msgs::guiResultConstPtr & | result | ||
) | [private] |
Definition at line 391 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::dabo_tibi_actionFeedback | ( | const tibi_dabo_msgs::guiFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 408 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::dabo_tibi_actionMakeActionRequest | ( | ) | [private] |
Definition at line 684 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_action_clientActive | ( | ) | [private] |
Definition at line 370 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_action_clientDone | ( | const actionlib::SimpleClientGoalState & | state, |
const tibi_dabo_msgs::guiResultConstPtr & | result | ||
) | [private] |
Definition at line 360 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_action_clientFeedback | ( | const tibi_dabo_msgs::guiFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 375 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_action_clientMakeActionRequest | ( | ) | [private] |
Definition at line 667 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_actionGetFeedbackCallback | ( | tibi_dabo_msgs::guiFeedbackPtr & | feedback | ) | [private] |
Definition at line 591 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_actionGetResultCallback | ( | tibi_dabo_msgs::guiResultPtr & | result | ) | [private] |
Definition at line 583 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::gui_actionHasSucceedCallback | ( | void | ) | [private] |
Definition at line 571 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::gui_actionIsFinishedCallback | ( | void | ) | [private] |
Definition at line 555 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_actionStartCallback | ( | const tibi_dabo_msgs::guiGoalConstPtr & | goal | ) | [private] |
Definition at line 538 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::gui_actionStopCallback | ( | void | ) | [private] |
Definition at line 548 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::hri_clientActive | ( | ) | [private] |
Definition at line 644 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::hri_clientDone | ( | const actionlib::SimpleClientGoalState & | state, |
const tibi_dabo_msgs::sequenceResultConstPtr & | result | ||
) | [private] |
Definition at line 631 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::hri_clientFeedback | ( | const tibi_dabo_msgs::sequenceFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 649 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::hri_clientMakeActionRequest | ( | ) | [private] |
Definition at line 750 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::mainNodeThread | ( | void | ) | [protected, virtual] |
main node thread
This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.
Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.
Implements algorithm_base::IriBaseAlgorithm< DaboCoopAlgorithm >.
Definition at line 67 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::move_baseActive | ( | ) | [private] |
Definition at line 610 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::move_baseDone | ( | const actionlib::SimpleClientGoalState & | state, |
const move_base_msgs::MoveBaseResultConstPtr & | result | ||
) | [private] |
Definition at line 598 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::move_baseFeedback | ( | const move_base_msgs::MoveBaseFeedbackConstPtr & | feedback | ) | [private] |
Definition at line 615 of file dabo_coop_alg_node.cpp.
bool DaboCoopAlgNode::move_baseMakeActionRequest | ( | ) | [private] |
Definition at line 728 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::node_config_update | ( | Config & | config, |
uint32_t | level | ||
) | [protected, virtual] |
dynamic reconfigure server callback
This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.
config | an object with new configuration from all algorithm parameters defined in the config file. |
level | integer referring the level in which the configuration has been changed. |
Implements algorithm_base::IriBaseAlgorithm< DaboCoopAlgorithm >.
Definition at line 773 of file dabo_coop_alg_node.cpp.
void DaboCoopAlgNode::supervisor_callback | ( | const sensor_msgs::Joy::ConstPtr & | msg | ) | [private] |
Definition at line 328 of file dabo_coop_alg_node.cpp.
dabo_cmds DaboCoopAlgNode::car_cmd [private] |
Definition at line 87 of file dabo_coop_alg_node.h.
Definition at line 79 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::car_done [private] |
Definition at line 89 of file dabo_coop_alg_node.h.
std::string DaboCoopAlgNode::car_location_id [private] |
Definition at line 88 of file dabo_coop_alg_node.h.
dabo_states DaboCoopAlgNode::current_state [private] |
Definition at line 141 of file dabo_coop_alg_node.h.
actionlib::SimpleActionClient<tibi_dabo_msgs::guiAction> DaboCoopAlgNode::dabo_car_action_client_ [private] |
Definition at line 117 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::dabo_car_action_done [private] |
Definition at line 123 of file dabo_coop_alg_node.h.
Definition at line 118 of file dabo_coop_alg_node.h.
actionlib::SimpleActionClient<tibi_dabo_msgs::guiAction> DaboCoopAlgNode::dabo_tibi_action_client_ [private] |
Definition at line 109 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::dabo_tibi_action_done [private] |
Definition at line 115 of file dabo_coop_alg_node.h.
Definition at line 110 of file dabo_coop_alg_node.h.
Definition at line 75 of file dabo_coop_alg_node.h.
iri_goal_database::get_goal DaboCoopAlgNode::get_goal_srv_ [private] |
Definition at line 76 of file dabo_coop_alg_node.h.
Definition at line 91 of file dabo_coop_alg_node.h.
actionlib::SimpleActionClient<tibi_dabo_msgs::guiAction> DaboCoopAlgNode::gui_action_client_client_ [private] |
Definition at line 102 of file dabo_coop_alg_node.h.
Definition at line 103 of file dabo_coop_alg_node.h.
gui_cmds DaboCoopAlgNode::gui_cmd [private] |
Definition at line 99 of file dabo_coop_alg_node.h.
actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> DaboCoopAlgNode::hri_client_client_ [private] |
Definition at line 133 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::hri_client_done [private] |
Definition at line 139 of file dabo_coop_alg_node.h.
Definition at line 134 of file dabo_coop_alg_node.h.
joy_cmds DaboCoopAlgNode::joy_cmd [private] |
Definition at line 70 of file dabo_coop_alg_node.h.
actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> DaboCoopAlgNode::move_base_client_ [private] |
Definition at line 125 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::move_base_done [private] |
Definition at line 131 of file dabo_coop_alg_node.h.
Definition at line 126 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::new_car_cmd [private] |
Definition at line 86 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::new_gui_cmd [private] |
Definition at line 98 of file dabo_coop_alg_node.h.
bool DaboCoopAlgNode::new_joy_cmd [private] |
Definition at line 69 of file dabo_coop_alg_node.h.
CMutex DaboCoopAlgNode::supervisor_mutex_ [private] |
Definition at line 68 of file dabo_coop_alg_node.h.
Definition at line 66 of file dabo_coop_alg_node.h.