pp_explorer.cpp

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* Author: Gonçalo Cabrita on 5/1/2011
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#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>

#include "PPExplorer.h"

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

bool send_goal;
bool goal_failed;

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

void goalActiveCallback()
{
        //ROS_INFO("PPExplorer - goalActiveCallback - Node Goal active! Hurray!");
}

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

void sendRobotToGoal(MoveBaseClient * ac, geometry_msgs::PoseStamped * robot_goal)
{
        move_base_msgs::MoveBaseGoal goal;
                        
        goal.target_pose.header.frame_id = robot_goal->header.frame_id;
        goal.target_pose.header.stamp = robot_goal->header.stamp;

        goal.target_pose.pose.position.x = robot_goal->pose.position.x;
        goal.target_pose.pose.position.y = robot_goal->pose.position.y;
        goal.target_pose.pose.orientation = robot_goal->pose.orientation;
        
        ROS_INFO("Sending robot to %lf %lf", robot_goal->pose.position.x, robot_goal->pose.position.y);

        ac->sendGoal(goal, boost::bind(&goalDoneCallback, _1, _2), boost::bind(&goalActiveCallback), boost::bind(&goalFeedbackCallback, _1));
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "pp_explorer_node");
        
        ROS_INFO("ParticlePlumeExplorer for ROS v1.0");

        particle_plume::PPExplorer pp;
        
        // 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("PPExplorer Node -- Waiting for the move_base action server to come online...");
        bool ac_online = false;
        for(int i=0 ; i<3 ; i++)
        {
                if(ac.waitForServer(ros::Duration(1.0)))
                {
                        ac_online = true;
                        break;
                }
        
                ROS_INFO("PPExplorer Node -- Unable to find the move_base action server, retrying...");
        }
        if(!ac_online)
        {
                ROS_FATAL("PPExplorer Node -- Forgot to launch move_base now did we?");
                ROS_BREAK();
                return(-1);
        }
        ROS_INFO("PPExplorer Node -- Found it!");
        
        ROS_INFO("PPExplorer Node -- Waiting for a map msg to arrive...");
        while(!pp.isReady())
        {
                ros::spinOnce();
                ros::Duration(0.5).sleep();
        }
        ROS_INFO("PPExplorer Node -- Got it!");
        
        geometry_msgs::PoseStamped robot_goal;
        
        send_goal = true;
        goal_failed = false;
        
        ros::Time start_time = ros::Time::now();
        
        ros::Rate r(1);
        while(ros::ok())
        {
                if(send_goal)
                {
                        send_goal = false;
                        if(pp.findYumiestSlice(&robot_goal))
                        {
                                sendRobotToGoal(&ac, &robot_goal);
                        }
                        else if(pp.findClearing(&robot_goal))
                        {
                                ROS_WARN("PPExplorer Node -- All slices were discarded! Re-locating the robot...");
                                sendRobotToGoal(&ac, &robot_goal);
                        }
                        else
                        {
                                ROS_INFO("PPExplorer Node -- Finished!");
                                ros::Duration time_spent = ros::Time::now() - start_time;
                                ROS_INFO("PPExplorer Node -- Took %lf seconds to complete the exploration! Got %lf%% of explored area!", time_spent.toSec(), pp.getExploredArea()*100.0);
                                return(0);
                        }
                }
                
                if(goal_failed)
                {
                        goal_failed = false;
                        if(pp.nextYumiestSlice(&robot_goal))
                        {
                                sendRobotToGoal(&ac, &robot_goal);
                        }
                        else if(pp.findClearing(&robot_goal))
                        {
                                ROS_WARN("PPExplorer Node -- All slices turned out being bad goals! Re-locating the robot...");
                                sendRobotToGoal(&ac, &robot_goal);
                        }
                        else
                        {
                                ROS_INFO("PPExplorer Node -- Finished!");
                                ros::Duration time_spent = ros::Time::now() - start_time;
                                ROS_INFO("PPExplorer Node -- Took %lf seconds to complete the exploration! Got %lf%% of explored area!", time_spent.toSec(), pp.getExploredArea()*100.0);
                                return(0);
                        }
                }
                
                ros::spinOnce();
                r.sleep();
        }
        
        return(0);
}

// EOF