CmdVelSafety.cpp File Reference

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "nav_msgs/GridCells.h"
#include "tf/transform_listener.h"
#include "tf/transform_datatypes.h"
#include <math.h>
#include <unistd.h>
#include <boost/shared_ptr.hpp>

Include dependency graph for CmdVelSafety.cpp:

Go to the source code of this file.

Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &msg)
double	getMinimumDistance (tf::Vector3 position, nav_msgs::GridCells grid)
double	getSafeVelocityLimit (tf::Vector3 vel)
int	main (int argc, char **argv)
void	obstaclesCallback (const nav_msgs::GridCells::ConstPtr &msg)
Variables
ros::Publisher	cmd_vel_pub
bool	has_grid = false
double	inflation_radius = 1.5
double	max_spd = 1.5
double	min_spd = 0.075
nav_msgs::GridCells	obstacles
double	stop_radius = 0.5
boost::shared_ptr < tf::TransformListener >	tf_listener
double	timestep = 0.2

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Function Documentation

void cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 91 of file CmdVelSafety.cpp.

double getMinimumDistance	(	tf::Vector3	position,
		nav_msgs::GridCells	grid
	)

Definition at line 31 of file CmdVelSafety.cpp.

double getSafeVelocityLimit

(

tf::Vector3

vel

)

Definition at line 46 of file CmdVelSafety.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 120 of file CmdVelSafety.cpp.

void obstaclesCallback

(

const nav_msgs::GridCells::ConstPtr &

msg

)

Definition at line 83 of file CmdVelSafety.cpp.

---

Variable Documentation

ros::Publisher cmd_vel_pub

Definition at line 27 of file CmdVelSafety.cpp.

bool has_grid = false

Definition at line 24 of file CmdVelSafety.cpp.

double inflation_radius = 1.5

Definition at line 22 of file CmdVelSafety.cpp.

double max_spd = 1.5

Definition at line 17 of file CmdVelSafety.cpp.

double min_spd = 0.075

Definition at line 16 of file CmdVelSafety.cpp.

nav_msgs::GridCells obstacles

Definition at line 25 of file CmdVelSafety.cpp.

double stop_radius = 0.5

Definition at line 21 of file CmdVelSafety.cpp.

boost::shared_ptr<tf::TransformListener> tf_listener

Definition at line 29 of file CmdVelSafety.cpp.

double timestep = 0.2

Definition at line 19 of file CmdVelSafety.cpp.