IRI ROS Specific Algorithm Class. More...

#include <no_collision_alg_node.h>

Inheritance diagram for NoCollisionAlgNode:

Public Member Functions
	NoCollisionAlgNode (void)
	Constructor.
	~NoCollisionAlgNode (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
Private Member Functions
void	frontal_laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	getFeedbackCallback (move_base_msgs::MoveBaseFeedbackPtr &feedback)
void	getResultCallback (move_base_msgs::MoveBaseResultPtr &result)
bool	hasSucceedCallback (void)
bool	isFinishedCallback (void)
void	startCallback (const move_base_msgs::MoveBaseGoalConstPtr &goal)
void	stopCallback (void)
void	target_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
Private Attributes
bool	action_running_
ros::Time	action_start_
std::string	fixed_frame_
ros::Subscriber	frontal_laser_subscriber_
visualization_msgs::Marker	goal_marker_
ros::Publisher	goal_marker_publisher_
geometry_msgs::PoseStamped	goal_pose_
bool	is_laser_ready_
IriActionServer < move_base_msgs::MoveBaseAction >	move_base_aserver_
sensor_msgs::LaserScan	scan_
ros::Publisher	segway_cmd_publisher_
std::string	target_frame_
CMutex	target_vel_mutex_
ros::Subscriber	target_vel_subscriber_
tf::TransformListener	tf_listener2_
tf::TransformListener	tf_listener_
Static Private Attributes
static const double	ACTION_TIMEOUT = 300

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file no_collision_alg_node.h.

Constructor & Destructor Documentation

NoCollisionAlgNode::NoCollisionAlgNode ( void )

Constructor.

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

Definition at line 4 of file no_collision_alg_node.cpp.

NoCollisionAlgNode::~NoCollisionAlgNode ( void )

Destructor.

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

Definition at line 57 of file no_collision_alg_node.cpp.

Member Function Documentation

void NoCollisionAlgNode::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< NoCollisionAlgorithm >.

Definition at line 282 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::frontal_laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 136 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::getFeedbackCallback ( move_base_msgs::MoveBaseFeedbackPtr & feedback ) [private]

Definition at line 267 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::getResultCallback ( move_base_msgs::MoveBaseResultPtr & result ) [private]

Definition at line 258 of file no_collision_alg_node.cpp.

bool NoCollisionAlgNode::hasSucceedCallback ( void ) [private]

Definition at line 249 of file no_collision_alg_node.cpp.

bool NoCollisionAlgNode::isFinishedCallback ( void ) [private]

Definition at line 239 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::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< NoCollisionAlgorithm >.

Definition at line 62 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::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< NoCollisionAlgorithm >.

Definition at line 278 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::startCallback ( const move_base_msgs::MoveBaseGoalConstPtr & goal ) [private]

Definition at line 179 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::stopCallback ( void ) [private]

Definition at line 227 of file no_collision_alg_node.cpp.

void NoCollisionAlgNode::target_vel_callback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Definition at line 157 of file no_collision_alg_node.cpp.