#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <unistd.h>
#include <ros/ros.h>
#include <ros/time.h>
#include <std_msgs/String.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Empty.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/LaserScan.h>
Go to the source code of this file.
Defines | |
#define | maxRange 1.5 |
#define | moveSpeed 0.3 |
#define | navigation REACTIVE |
#define | PI 3.14159265 |
#define | reactiveRange 0.5 |
#define | rotateSpeed 0.4 |
#define | sonarSamples 1 |
Functions | |
void | goTo (float xIni, float yIni, float teta, float xFinal, float yFinal, float tetaFinal) |
int | main (int argc, char **argv) |
float | minValue (int ini_idx, int final_idx, float tab[], float maxValue) |
void | move (float distance, float speed) |
void | odom_readCB (const nav_msgs::Odometry::ConstPtr &odom) |
double | quaternion2degrees (double angle, double polarization) |
void | reactiveNavigation () |
void | rotate (float angle_deg, float speed) |
void | sonars_readCB (const sensor_msgs::LaserScan::ConstPtr &range) |
Variables | |
float | centerSonar |
ros::Publisher | cmd_velocidade |
float | leftSonar |
ros::Subscriber | odm_stage |
float | rightSonar |
sensor_msgs::LaserScan | sonarsRange |
ros::Subscriber | sonarsRange_stage |
double | theta = 0 |
float | theta_goTo = 0 |
double | thetaPol = 0 |
float | x = 0 |
float | x_goTo = 0 |
float | y = 0 |
float | y_goTo = 0 |
#define maxRange 1.5 |
Definition at line 67 of file traxbot_stageMultipleRobots.cpp.
#define moveSpeed 0.3 |
Definition at line 69 of file traxbot_stageMultipleRobots.cpp.
#define navigation REACTIVE |
Definition at line 72 of file traxbot_stageMultipleRobots.cpp.
#define PI 3.14159265 |
Definition at line 64 of file traxbot_stageMultipleRobots.cpp.
#define reactiveRange 0.5 |
Definition at line 70 of file traxbot_stageMultipleRobots.cpp.
#define rotateSpeed 0.4 |
Definition at line 68 of file traxbot_stageMultipleRobots.cpp.
#define sonarSamples 1 |
Definition at line 66 of file traxbot_stageMultipleRobots.cpp.
void goTo | ( | float | xIni, |
float | yIni, | ||
float | teta, | ||
float | xFinal, | ||
float | yFinal, | ||
float | tetaFinal | ||
) |
Definition at line 359 of file traxbot_stageMultipleRobots.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 407 of file traxbot_stageMultipleRobots.cpp.
float minValue | ( | int | ini_idx, |
int | final_idx, | ||
float | tab[], | ||
float | maxValue | ||
) |
Definition at line 107 of file traxbot_stageMultipleRobots.cpp.
void move | ( | float | distance, |
float | speed | ||
) |
Definition at line 161 of file traxbot_stageMultipleRobots.cpp.
void odom_readCB | ( | const nav_msgs::Odometry::ConstPtr & | odom | ) |
Definition at line 94 of file traxbot_stageMultipleRobots.cpp.
double quaternion2degrees | ( | double | angle, |
double | polarization | ||
) |
Definition at line 141 of file traxbot_stageMultipleRobots.cpp.
void reactiveNavigation | ( | ) |
Definition at line 306 of file traxbot_stageMultipleRobots.cpp.
void rotate | ( | float | angle_deg, |
float | speed | ||
) |
Definition at line 198 of file traxbot_stageMultipleRobots.cpp.
void sonars_readCB | ( | const sensor_msgs::LaserScan::ConstPtr & | range | ) |
Definition at line 124 of file traxbot_stageMultipleRobots.cpp.
float centerSonar |
Definition at line 84 of file traxbot_stageMultipleRobots.cpp.
Definition at line 74 of file traxbot_stageMultipleRobots.cpp.
float leftSonar |
Definition at line 84 of file traxbot_stageMultipleRobots.cpp.
Definition at line 76 of file traxbot_stageMultipleRobots.cpp.
float rightSonar |
Definition at line 84 of file traxbot_stageMultipleRobots.cpp.
Definition at line 80 of file traxbot_stageMultipleRobots.cpp.
Definition at line 77 of file traxbot_stageMultipleRobots.cpp.
double theta = 0 |
Definition at line 86 of file traxbot_stageMultipleRobots.cpp.
float theta_goTo = 0 |
Definition at line 90 of file traxbot_stageMultipleRobots.cpp.
double thetaPol = 0 |
Definition at line 87 of file traxbot_stageMultipleRobots.cpp.
float x = 0 |
Definition at line 85 of file traxbot_stageMultipleRobots.cpp.
float x_goTo = 0 |
Definition at line 90 of file traxbot_stageMultipleRobots.cpp.
float y = 0 |
Definition at line 85 of file traxbot_stageMultipleRobots.cpp.
float y_goTo = 0 |
Definition at line 90 of file traxbot_stageMultipleRobots.cpp.