IRI ROS Specific Algorithm Class. More...

#include <laser_navigation_alg_node.h>

Inheritance diagram for LaserNavigationAlgNode:

Public Member Functions
	LaserNavigationAlgNode (void)
	Constructor.
	~LaserNavigationAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	ROS_INFO_PRESS (const std::string &str)
void	ROS_INFO_XYR (const std::string &str, const float &x, const float &y, const geometry_msgs::Quaternion &r)
void	ROS_INFO_XYR (const std::string &str, const tf::Transform &tftrans)
Private Member Functions
bool	load_path_ (const std::string &bag_path)
void	publish_marker (const geometry_msgs::PoseStamped &pose, const int &type)
void	scan_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	send_goalActive ()
void	send_goalDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	send_goalFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	send_goalMakeActionRequest (const geometry_msgs::PoseStamped &new_goal)
Private Attributes
ros::Publisher	checkpoints_publisher_
uint	current_
ros::ServiceClient	estimate_client_
iri_laser_localisation::DoEstimation	estimate_srv_
bool	first_
sensor_msgs::LaserScan	LaserScan_msg_
ros::ServiceClient	localise_client_
iri_laser_localisation::DoLocalisation	localise_srv_
visualization_msgs::Marker	Marker_msg_
bool	new_scan_
std::vector < geometry_msgs::PoseStamped >	pose_path_
ros::Publisher	pose_ref_publisher_
CMutex	scan_mutex_
std::vector < sensor_msgs::LaserScan >	scan_path_
sensor_msgs::LaserScan	scan_sens_
ros::Subscriber	scan_subscriber_
ros::Publisher	scans_map_publisher_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	send_goal_client_
tf::TransformBroadcaster	tfb_
bool	waiting_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 58 of file laser_navigation_alg_node.h.

Constructor & Destructor Documentation

LaserNavigationAlgNode::LaserNavigationAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

this->scans_ref_publisher_ = this->public_node_handle_.advertise<sensor_msgs::LaserScan>("scans_ref", 100);

Definition at line 4 of file laser_navigation_alg_node.cpp.

LaserNavigationAlgNode::~LaserNavigationAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 36 of file laser_navigation_alg_node.cpp.

Member Function Documentation

void LaserNavigationAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

void ROS_INFO_XYR(const std::string & str,const tf::Transform & tftrans); In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< LaserNavigationAlgorithm >.

Definition at line 327 of file laser_navigation_alg_node.cpp.

bool LaserNavigationAlgNode::load_path_ ( const std::string & bag_path ) [private]

---------------- LOAD PATH ---------------------------------------------

Definition at line 341 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::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.

---------------- main THREAD -------------------------------------------

---- ONLY IN FIRST RUN ----

---- LOAD PATH ----

---- ESTIMATE FIRST POSE ----

---- PUBLISH MARKERS ----

---- MAP PREVIEW ----

Here the robot is localised with the following pose

___________________________ LOOP _________________________________________

---- WAIT FOR NEW SCANS ----

---- MOVE ----

Update the next goal Send it to Move Base & wait until it reaches (or not) it

If it has reached the last goal, wait until the program is closed

---- SENSE ----

Localise the robot

Here the robot is localised with the following pose

Implements algorithm_base::IriBaseAlgorithm< LaserNavigationAlgorithm >.

Definition at line 43 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::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.

Parameters:

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< LaserNavigationAlgorithm >.

Definition at line 320 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::publish_marker	(	const geometry_msgs::PoseStamped &	pose,
		const int &	type
	)		`[private]`

---------------- PUBLISH MARKER ----------------------------------------

Definition at line 393 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::ROS_INFO_PRESS ( const std::string & str ) [protected]

Definition at line 429 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::ROS_INFO_XYR	(	const std::string &	str,
		const float &	x,
		const float &	y,
		const geometry_msgs::Quaternion &	r
	)		`[protected]`

Definition at line 436 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::ROS_INFO_XYR	(	const std::string &	str,
		const tf::Transform &	tftrans
	)		`[protected]`

Definition at line 443 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::scan_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 221 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::send_goalActive ( ) [private]

Definition at line 248 of file laser_navigation_alg_node.cpp.

void LaserNavigationAlgNode::send_goalDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`