demo.cpp

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* Author: Gonçalo Cabrita and Pedro Sousa on 17/11/2010
*********************************************************************/
#include <vector>
#include <string>

#include <ros/ros.h>
#include <tf/tf.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/Pose2D.h>
#include <lse_sensor_msgs/Nostril.h>
#include <roomba_500_series/Battery.h>
#include <geometry_msgs/Twist.h>
#include <fctuc_open_day/Poses.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

roomba_500_series::Battery battery;
std::vector<geometry_msgs::Pose2D> targets;
std::vector<geometry_msgs::Pose2D>::iterator target;

bool sendNewGoal;
bool needToBackUp;

void goalDoneCallback(const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
{
        ROS_INFO("Goal is complete.");
        // If the goal succeeded send a new one!
        if(state.state_ == actionlib::SimpleClientGoalState::SUCCEEDED) sendNewGoal = true;
        // If it was aborted time to back up!
        if(state.state_ == actionlib::SimpleClientGoalState::ABORTED) needToBackUp = true;
}

void goalActiveCallback()
{
        ROS_INFO("Goal active! Hurray!");
}

void goalFeedbackCallback(const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
{
        //ROS_INFO("Getting feedback! How cool is that?");
}

void noseCallback(const lse_sensor_msgs::Nostril::ConstPtr& nose)
{
        
}

void batteryCallback(const roomba_500_series::Battery::ConstPtr& batt)
{
        battery.level = batt->level;
        battery.dock = batt->dock;
}

void posesCallback(const fctuc_open_day::Poses::ConstPtr& poses)
{
        ROS_INFO("Got a new batch of poses!");
        targets = poses->poses;
        target = targets.begin();
}

int main(int argc, char** argv)
{
        ros::init(argc, argv, "fctuc_open_day_demo");

        ROS_INFO("Welcome to FCTUC Open Day Demo!");
        
        ros::NodeHandle n;
        
        std::string tf_prefix;
        n.param<std::string>("tf_prefix", tf_prefix, "");
        
        ros::Publisher cmd_vel_pub  = n.advertise<geometry_msgs::Twist>("/cmd_vel", 20);
        
        ros::Subscriber nose_sub = n.subscribe("/nose", 20, noseCallback);
        ros::Subscriber batt_sub = n.subscribe("/battery", 20, batteryCallback);
        ros::Subscriber pose_sub = n.subscribe("/poses", 2, posesCallback);
        
        ros::Rate r(10);
        ROS_INFO("Waiting for the first batch of poses to be published...");
        while(targets.size()==0 && ros::ok())
        {
                ros::spinOnce();
                r.sleep();
        }
        ROS_INFO("Got it!");
        
        // Tell the action client that we want to spin a thread by default
        MoveBaseClient ac("move_base", true);
        // Wait for the action server to come up
        ROS_INFO("Waiting for the move_base action server to come online...");
        if(!ac.waitForServer(ros::Duration(5.0)))
        {
                ROS_FATAL("Forgot to launch move_base now did we?");
                ROS_BREAK();
        }
        ROS_INFO("Found it!");
        
        int backUpCounter = 0;
        sendNewGoal = true;
        needToBackUp = false;
        
        target = targets.begin();
        while(ros::ok())
        {       
                // If we are trapped or we are recharged back up a lil bit
                if(needToBackUp || (battery.level>80.0 && battery.dock))
                {
                        needToBackUp = true;
                        sendNewGoal = false;
                        if(backUpCounter==0)
                        {
                                ROS_INFO("The wall is too close! I need to do some backing up...");
                                // Move the robot back...
                                geometry_msgs::Twist cmd_vel;
                                cmd_vel.linear.x = -0.05;
                                cmd_vel.angular.z = 0.0;
                                cmd_vel_pub.publish(cmd_vel);
                        }
                        
                        if(backUpCounter==40)
                        {
                                // Turn the robot around...
                                geometry_msgs::Twist cmd_vel;
                                cmd_vel.linear.x = 0.0;
                                cmd_vel.angular.z = 0.5;
                                cmd_vel_pub.publish(cmd_vel);
                        }
                        
                        if(backUpCounter==100)
                        {
                                // Stop the robot...
                                geometry_msgs::Twist cmd_vel;
                                cmd_vel.linear.x = 0.0;
                                cmd_vel.angular.z = 0.0;
                                cmd_vel_pub.publish(cmd_vel);
                                
                                ROS_INFO("Done backing up, now on with my life!");
                                
                                // Reset variables
                                backUpCounter = 0;
                                sendNewGoal = true;
                                needToBackUp = false;
                        }
                        backUpCounter++;
                }
        
                if(sendNewGoal)
                {
                        std::string frame_name = tf_prefix;
                        move_base_msgs::MoveBaseGoal goal;
                
                        // Send a goal to the robot
                        goal.target_pose.header.frame_id = frame_name.append("/map");
                        goal.target_pose.header.stamp = ros::Time::now();
                
                        // Send the next goal
                        goal.target_pose.pose.position.x = target->x;
                        goal.target_pose.pose.position.y = target->y;
                        goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(target->theta);
                        
                        target++;
                        if(target==targets.end()) target=targets.begin();
                        
                        sendNewGoal = false;
                        ac.sendGoal(goal, boost::bind(&goalDoneCallback, _1, _2), boost::bind(&goalActiveCallback), boost::bind(&goalFeedbackCallback, _1));
                }
                
                // If you smell something do interactive stuff!
                //if()
                
                ros::spinOnce();
                r.sleep();
        }

        ROS_INFO("Exiting FCTUC Open Day Demo...");

        return 0;
}