#include <random_walker_controller.hpp>

Inheritance diagram for kobuki::RandomWalkerController:

Public Member Functions
bool	init ()
	RandomWalkerController (ros::NodeHandle &nh_priv, std::string &name)
void	spin ()
	Publishes velocity commands and triggers the LEDs.
	~RandomWalkerController ()
Private Member Functions
void	bumperEventCB (const kobuki_msgs::BumperEventConstPtr msg)
	Trigger direction change and LED blink, when a bumper is pressed.
void	cliffEventCB (const kobuki_msgs::CliffEventConstPtr msg)
	Trigger direction change and LED blink, when a cliff is detected.
void	disableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for disabling the controller.
void	enableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for enabling the controller.
void	wheelDropEventCB (const kobuki_msgs::WheelDropEventConstPtr msg)
	Trigger stopping and LED blink, when a wheel drop is detected.
Private Attributes
bool	bumper_center_pressed_
	Flag for center bumper's state.
ros::Subscriber	bumper_event_subscriber_
	Subscribers.
bool	bumper_left_pressed_
	Flag for left bumper's state.
bool	bumper_right_pressed_
	Flag for right bumper's state.
bool	change_direction_
	Flag for changing direction.
bool	cliff_center_detected_
	Flag for center cliff sensor's state.
ros::Subscriber	cliff_event_subscriber_
bool	cliff_left_detected_
	Flag for left cliff sensor's state.
bool	cliff_right_detected_
	Flag for right cliff sensor's state.
ros::Publisher	cmd_vel_publisher_
	Publishers.
ros::Subscriber	disable_controller_subscriber_
ros::Subscriber	enable_controller_subscriber_
	Subscribers.
ros::Publisher	led1_publisher_
ros::Publisher	led2_publisher_
bool	led_bumper_on_
	Flag for bumper LED's state.
bool	led_cliff_on_
	Flag for cliff sensor LED's state.
bool	led_wheel_drop_on_
	Flag for wheel drop sensor LED's state.
std::string	name_
	Node(let) name.
ros::NodeHandle	nh_priv_
	Private ROS handle.
bool	stop_
	Flag for stopping.
bool	turning_
	Flag for turning state.
int	turning_direction_
	Randomly chosen turning direction.
ros::Duration	turning_duration_
	Randomly chosen turning duration.
ros::Time	turning_start_
	Start time of turning.
double	vel_ang_
	Angular velocity for rotating.
double	vel_lin_
	Linear velocity for moving straight.
ros::Subscriber	wheel_drop_event_subscriber_
bool	wheel_drop_left_detected_
	Flag for left wheel drop sensor's state.
bool	wheel_drop_right_detected_
	Flag for right wheel drop sensor's state.

Detailed Description

@ brief A controller implementing a simple random walker algorithm

Controller moves the robot around, changing direction whenever a bumper or cliff event occurs For changing direction random angles are used.

Definition at line 42 of file random_walker_controller.hpp.

Constructor & Destructor Documentation

kobuki::RandomWalkerController::RandomWalkerController	(	ros::NodeHandle &	nh_priv,
		std::string &	name
	)		`[inline]`

Definition at line 45 of file random_walker_controller.hpp.

kobuki::RandomWalkerController::~RandomWalkerController ( ) [inline]

Definition at line 62 of file random_walker_controller.hpp.

Member Function Documentation

void kobuki::RandomWalkerController::bumperEventCB ( const kobuki_msgs::BumperEventConstPtr msg ) [private]

Trigger direction change and LED blink, when a bumper is pressed.

Parameters:

msg	bumper event

Definition at line 202 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::cliffEventCB ( const kobuki_msgs::CliffEventConstPtr msg ) [private]

Trigger direction change and LED blink, when a cliff is detected.

Parameters:

msg	cliff event

Definition at line 265 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::disableCB ( const std_msgs::EmptyConstPtr msg ) [private]

ROS logging output for disabling the controller.

Parameters:

msg	incoming topic message

Definition at line 190 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::enableCB ( const std_msgs::EmptyConstPtr msg ) [private]

ROS logging output for enabling the controller.

Parameters:

msg	incoming topic message

Definition at line 178 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::init ( ) [inline, virtual]

Set-up necessary publishers/subscribers and initialise time

Returns:: true, if successful

Implements yocs::Controller.

Definition at line 68 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::spin ( ) [virtual]

Publishes velocity commands and triggers the LEDs.

Reimplemented from yocs::Controller.

Definition at line 379 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::wheelDropEventCB ( const kobuki_msgs::WheelDropEventConstPtr msg ) [private]

Trigger stopping and LED blink, when a wheel drop is detected.

Parameters:

msg	wheel drop event

Definition at line 325 of file random_walker_controller.hpp.

Member Data Documentation

bool kobuki::RandomWalkerController::bumper_center_pressed_ [private]

Flag for center bumper's state.

Definition at line 115 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::bumper_event_subscriber_ [private]

Subscribers.

Definition at line 105 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::bumper_left_pressed_ [private]

Flag for left bumper's state.

Definition at line 113 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::bumper_right_pressed_ [private]

Flag for right bumper's state.

Definition at line 117 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::change_direction_ [private]

Flag for changing direction.

Definition at line 109 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::cliff_center_detected_ [private]

Flag for center cliff sensor's state.

Definition at line 121 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::cliff_event_subscriber_ [private]

Definition at line 105 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::cliff_left_detected_ [private]

Flag for left cliff sensor's state.

Definition at line 119 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::cliff_right_detected_ [private]

Flag for right cliff sensor's state.

Definition at line 123 of file random_walker_controller.hpp.

ros::Publisher kobuki::RandomWalkerController::cmd_vel_publisher_ [private]

Publishers.

Definition at line 107 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::disable_controller_subscriber_ [private]

Definition at line 103 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::enable_controller_subscriber_ [private]

Subscribers.

Definition at line 103 of file random_walker_controller.hpp.

ros::Publisher kobuki::RandomWalkerController::led1_publisher_ [private]

Definition at line 107 of file random_walker_controller.hpp.

ros::Publisher kobuki::RandomWalkerController::led2_publisher_ [private]

Definition at line 107 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::led_bumper_on_ [private]

Flag for bumper LED's state.

Definition at line 129 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::led_cliff_on_ [private]

Flag for cliff sensor LED's state.

Definition at line 131 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::led_wheel_drop_on_ [private]

Flag for wheel drop sensor LED's state.

Definition at line 133 of file random_walker_controller.hpp.

std::string kobuki::RandomWalkerController::name_ [private]

Node(let) name.

Definition at line 101 of file random_walker_controller.hpp.

ros::NodeHandle kobuki::RandomWalkerController::nh_priv_ [private]

Private ROS handle.

Definition at line 99 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::stop_ [private]

Flag for stopping.

Definition at line 111 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::turning_ [private]

Flag for turning state.

Definition at line 145 of file random_walker_controller.hpp.

int kobuki::RandomWalkerController::turning_direction_ [private]

Randomly chosen turning direction.

Definition at line 141 of file random_walker_controller.hpp.

ros::Duration kobuki::RandomWalkerController::turning_duration_ [private]

Randomly chosen turning duration.

Definition at line 139 of file random_walker_controller.hpp.

ros::Time kobuki::RandomWalkerController::turning_start_ [private]

Start time of turning.

Definition at line 143 of file random_walker_controller.hpp.

double kobuki::RandomWalkerController::vel_ang_ [private]

Angular velocity for rotating.

Definition at line 137 of file random_walker_controller.hpp.

double kobuki::RandomWalkerController::vel_lin_ [private]

Linear velocity for moving straight.

Definition at line 135 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::wheel_drop_event_subscriber_ [private]

Definition at line 105 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::wheel_drop_left_detected_ [private]

Flag for left wheel drop sensor's state.

Definition at line 125 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::wheel_drop_right_detected_ [private]

Flag for right wheel drop sensor's state.

Definition at line 127 of file random_walker_controller.hpp.

The documentation for this class was generated from the following file:

random_walker_controller.hpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation