#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/OccupancyGrid.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <angles/angles.h>
#include <visualization_msgs/Marker.h>
#include <actionlib/server/simple_action_server.h>
#include <move_base_msgs/MoveBaseAction.h>

Include dependency graph for multi_move_base_simple.cpp:

Classes
class	Robot
Typedefs
typedef actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	MoveBaseActionServer
typedef enum _SimpleNavigationState	SimpleNavigationState
Enumerations
enum	_SimpleNavigationState { SN_STOPPED = 1, SN_MOVING = 2, SN_ROTATING = 3, SN_MOVING_AS = 4, SN_ROTATING_AS = 5, SN_STOPPED = 1, SN_MOVING = 2, SN_ROTATING = 3, SN_MOVING_AS = 4, SN_ROTATING_AS = 5 }
Functions
void	asCallback (const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal)
double	calculateVelocities (double current_x, double current_y, double current_orientation, double goal_x, double goal_y, double linear_velocity, double angular_velocity)
void	displayGoal (double goal_x, double goal_y)
void	goalReceived (const geometry_msgs::PoseStamped::ConstPtr &msg)
int	main (int argc, char **argv)
void	mapCallback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
void	odomCallback (int index, const boost::shared_ptr< const nav_msgs::Odometry > &msg)
void	publishVelocities (double linear_velocity, double angular_velocity)
Variables
double	alpha
double	angular_threshold
MoveBaseActionServer *	as
double	attraction_coefficient
ros::Publisher *	cmd_vel_pub_ptr
ros::Duration	delay
double	distance_travelled
std::string	global_frame_id
ros::Duration	goal_timeout
double	goal_tolerance
double	in_place_angular_velocity
nav_msgs::OccupancyGrid	map
ros::Publisher *	marker_pub_ptr
double	max_distance
double	max_linear_velocity
int	me
double	min_linear_velocity
ros::NodeHandle *	n_ptr
double	rate
double	repulsion_coefficient_obstacles
double	repulsion_coefficient_robots
double	repulsion_threshold_obstacles
double	repulsion_threshold_robots
std::vector< Robot >	robots
bool	rotate_in_place
int	simple_goal = 0
SimpleNavigationState	state
tf::TransformListener *	tf_listener
bool	visualization

Typedef Documentation

typedef actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> MoveBaseActionServer

Definition at line 54 of file multi_move_base_simple.cpp.

typedef enum _SimpleNavigationState SimpleNavigationState

Enumeration Type Documentation

enum _SimpleNavigationState

Enumerator:

SN_STOPPED
SN_MOVING
SN_ROTATING
SN_MOVING_AS
SN_ROTATING_AS
SN_STOPPED
SN_MOVING
SN_ROTATING
SN_MOVING_AS
SN_ROTATING_AS

Definition at line 65 of file multi_move_base_simple.cpp.

Function Documentation

void asCallback ( const move_base_msgs::MoveBaseGoalConstPtr & move_base_goal )

Definition at line 395 of file multi_move_base_simple.cpp.

double calculateVelocities	(	double	current_x,
		double	current_y,
		double	current_orientation,
		double	goal_x,
		double	goal_y,
		double *	linear_velocity,
		double *	angular_velocity
	)