move_base_omnidirectional.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  * 
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  * 
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  * 
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  * 
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Wim Meeusen */
00036 
00037 #ifndef MOVE_BASE_OMNIDIRECTIONAL_H
00038 #define MOVE_BASE_OMNIDIRECTIONAL_H
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <tf/transform_listener.h>
00043 #include <actionlib/server/simple_action_server.h>
00044 #include <costmap_2d/costmap_2d_ros.h>
00045 #include <costmap_2d/costmap_2d.h>
00046 #include <base_local_planner/costmap_model.h>
00047 #include <geometry_msgs/Point.h>
00048 #include <move_base_msgs/MoveBaseAction.h>
00049 
00050 
00051 namespace pr2_plugs_actions{
00052 
00053 
00054 class MoveBaseOmnidirectionalAction
00055 {
00056 public:
00057   MoveBaseOmnidirectionalAction();
00058   ~MoveBaseOmnidirectionalAction();
00059 
00060   void execute(const move_base_msgs::MoveBaseGoalConstPtr& goal);
00061 
00062 private:
00063   void lockWheels();
00064   geometry_msgs::Twist diff2D(const tf::Pose& pose1, const tf::Pose& pose2);
00065   geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);
00066   std::vector<geometry_msgs::Point> getOrientedFootprint(const tf::Vector3 pos, double theta_cost);
00067 
00068   tf::TransformListener tf_;
00069   costmap_2d::Costmap2DROS costmap_ros_;
00070   costmap_2d::Costmap2D costmap_;
00071   base_local_planner::CostmapModel costmap_model_;
00072   ros::Publisher base_pub_;
00073   double K_trans, K_rot, tolerance_trans, tolerance_rot;
00074 
00075   actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> action_server_;
00076   std::vector<geometry_msgs::Point> footprint_;
00077 };
00078 
00079 }
00080 
00081 #endif


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Thu Nov 28 2013 11:47:13