Inheritance diagram for purepursuit_planner_node:

Public Member Functions
void	AllState ()
	Actions performed in all states.
void	AnalyseCB ()
int	CalculateDirectionSpeed (Waypoint target_position)
	Calcula el sentido de movimiento de una ruta, dependiendo de la posición inicial y el ángulo del robot.
int	CalculateDirectionSpeed (geometry_msgs::Pose2D target_position)
	Calcula el sentido de movimiento de una ruta, dependiendo de la posición inicial y el ángulo del robot.
void	CancelPath ()
int	CheckOdomReceive ()
void	ControlThread ()
	All core component functionality is contained in this thread.
double	Dist (double x1, double y1, double x2, double y2)
	obtains distance between points p1 and p2
double	DistP2S (geometry_msgs::Pose2D current_position, Waypoint s0, Waypoint s1, Waypoint *Pb)
	obtains distance between the current position and segment s0->s1, and returns the point Return: the shortest distance from p to s (utm points) and the point of the segment that gives the shortest distance
double	Dot2 (double x1, double y1, double x2, double y2)
	Obtains vector cross product w x v.
void	EmergencyState ()
	Actions performed on the emergency state.
void	executeCB (const planner_msgs::GoToGoalConstPtr &goal)
void	FailureState ()
	Actions performed on Failure state.
void	GoalCB ()
void	InitState ()
	Actions performed on initial state.
ReturnValue	MergePath ()
void	OdomCallback (const nav_msgs::Odometry::ConstPtr &odom_value)
ReturnValue	PointDlh (geometry_msgs::Pose2D current_position, geometry_msgs::Pose2D *wp)
	Returns a point in a distance dlookahead on the path.
void	PreemptCB ()
int	PurePursuit ()
	High level control loop in cartesian coordinates obtains desiredSpeedMps and desiredPhiEffort according to the robot location and the path defined by the waypoints.
	purepursuit_planner_node (ros::NodeHandle h)
int	ReadAndPublish ()
void	ReadyState ()
	Actions performed on ready state.
void	ROSSetup ()
	Setups ROS' stuff.
bool	SetLaserBack ()
bool	SetLaserFront ()
void	SetRobotSpeed (double speed, double angle)
ReturnValue	Setup ()
void	ShutDownState ()
void	StandbyState ()
	Actions performed on standby state.
ReturnValue	Start ()
	Start Controller.
ReturnValue	Stop ()
	Stop Controller.
void	UpdateLookAhead ()
	Updates (little by little) the variable lookahead depending of the current velocity.
	~purepursuit_planner_node ()
Private Attributes
actionlib::SimpleActionServer < planner_msgs::GoToAction >	action_server_goto
bool	bCancel
	Flag to cancel the following path.
bool	bEnabled
	Flag to enable/disable the motion.
std::string	cmd_topic_vel_
	Topic name to publish the vel & pos commands.
double	d_dist_wheel_to_center_
	Distance from the robot center to the wheel's center.
double	d_lookahear_max_
double	d_lookahear_min_
	Lookahead bounds.
double	desired_freq_
double	dLinearSpeed
	current robot's linear speed
double	dLookAhead
	Variable lookahead.
planner_msgs::GoToFeedback	goto_feedback
planner_msgs::GoToGoal	goto_goal
planner_msgs::GoToResult	goto_result
double	Kr
	constant for Purepursuit
ros::Time	last_command_time
	Saves the time whenever receives a command msg and a transform between map and base link (if configured)
ros::Time	last_map_time
tf::TransformListener	listener
double	max_odom_freq
double	max_speed_
	Max allowed speed.
double	min_odom_freq
	Diagnostics min & max odometry freq.
std::string	name_sc_enable_back_laser_
std::string	name_sc_enable_front_laser_
	service name to enable disable lasers
ros::NodeHandle	node_handle_
ros::Subscriber	odom_sub_
	it subscribes to /odom
std::string	odom_topic_
	Topic name to read the odometry from.
nav_msgs::Odometry	odometry_robot
	current robot's odometry
Path	pathCurrent
	Object with the current path that the robot is following.
Path	pathFilling
	Object with the path that is being filled.
geometry_msgs::Pose2D	pose2d_robot
	current robot's position
std::string	position_source_
	Mode for reading the position of the robot ("ODOM", "MAP")
ros::NodeHandle	private_node_handle_
queue< Path >	qPath
	Vector with next paths to follow.
ros::ServiceClient	sc_enable_back_laser_
	Service to enable/disable back laser.
ros::ServiceClient	sc_enable_front_laser_
	Service to enable/disable front laser.
ros::Publisher	status_pub_
ros::Publisher	tranform_map_pub_
	publish the transformation between map->base_link
tf::StampedTransform	transform
unsigned int	ui_position_source
	Mode in numeric format.
diagnostic_updater::Updater	updater_diagnostic
	General status diagnostic updater.
diagnostic_updater::TopicDiagnostic *	updater_diagnostic_odom
	Diagnostic to control the frequency of the published odom.
ros::Publisher	vel_pub_

Detailed Description

Definition at line 675 of file purepursuit_planner.cpp.

Constructor & Destructor Documentation

purepursuit_planner_node::purepursuit_planner_node ( ros::NodeHandle h ) [inline]

Definition at line 758 of file purepursuit_planner.cpp.

purepursuit_planner_node::~purepursuit_planner_node ( ) [inline]

Definition at line 779 of file purepursuit_planner.cpp.

Member Function Documentation

void purepursuit_planner_node::AllState ( ) [inline, virtual]

Actions performed in all states.

Actions performed on all states.

Reimplemented from Component.

Definition at line 1414 of file purepursuit_planner.cpp.

void purepursuit_planner_node::AnalyseCB ( ) [inline]

Checks the status. (ActionServer)

Definition at line 1735 of file purepursuit_planner.cpp.

int purepursuit_planner_node::CalculateDirectionSpeed ( Waypoint target_position ) [inline]

Calcula el sentido de movimiento de una ruta, dependiendo de la posición inicial y el ángulo del robot.

Returns:: 1 si el sentido es positivo; -1 si el sentido es negativo

Definition at line 1493 of file purepursuit_planner.cpp.

int purepursuit_planner_node::CalculateDirectionSpeed ( geometry_msgs::Pose2D target_position ) [inline]

Calcula el sentido de movimiento de una ruta, dependiendo de la posición inicial y el ángulo del robot.

Returns:: 1 si el sentido es positivo; -1 si el sentido es negativo

Definition at line 1568 of file purepursuit_planner.cpp.

void purepursuit_planner_node::CancelPath ( ) [inline]

Removes all the waypoints introduced in the system

Definition at line 1357 of file purepursuit_planner.cpp.

int purepursuit_planner_node::CheckOdomReceive ( ) [inline]

Checks whether or not it's receiving odom values and/or map transformations

Returns:: 0 if OK; -1 if ERROR

Definition at line 1469 of file purepursuit_planner.cpp.

void purepursuit_planner_node::ControlThread ( ) [inline, virtual]

All core component functionality is contained in this thread.

All core component functionality is contained in this thread. All of the Component component state machine code can be found here.

Reimplemented from Component.

Definition at line 908 of file purepursuit_planner.cpp.

double purepursuit_planner_node::Dist	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		`[inline]`

obtains distance between points p1 and p2

Definition at line 1069 of file purepursuit_planner.cpp.

double purepursuit_planner_node::DistP2S	(	geometry_msgs::Pose2D	current_position,
		Waypoint	s0,
		Waypoint	s1,
		Waypoint *	Pb
	)		`[inline]`

obtains distance between the current position and segment s0->s1, and returns the point Return: the shortest distance from p to s (utm points) and the point of the segment that gives the shortest distance

Definition at line 1080 of file purepursuit_planner.cpp.

double purepursuit_planner_node::Dot2	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		`[inline]`

Obtains vector cross product w x v.

Returns:: w.x * v.x + w.y * w.y

Definition at line 1061 of file purepursuit_planner.cpp.

void purepursuit_planner_node::EmergencyState ( ) [inline, virtual]

Actions performed on the emergency state.

Actions performed on emergency state.

Reimplemented from Component.

Definition at line 1398 of file purepursuit_planner.cpp.

void purepursuit_planner_node::executeCB ( const planner_msgs::GoToGoalConstPtr & goal ) [inline]

Definition at line 1483 of file purepursuit_planner.cpp.

void purepursuit_planner_node::FailureState ( ) [inline, virtual]

Actions performed on Failure state.

Actions performed on failure state.

Reimplemented from Component.

Definition at line 1408 of file purepursuit_planner.cpp.

void purepursuit_planner_node::GoalCB ( ) [inline]

Called when receiving a new target. (ActionServer)

Definition at line 1717 of file purepursuit_planner.cpp.

void purepursuit_planner_node::InitState ( ) [inline, virtual]

Actions performed on initial state.

Reimplemented from Component.

Definition at line 959 of file purepursuit_planner.cpp.

ReturnValue purepursuit_planner_node::MergePath ( ) [inline]

Definition at line 1641 of file purepursuit_planner.cpp.

void purepursuit_planner_node::OdomCallback ( const nav_msgs::Odometry::ConstPtr & odom_value ) [inline]

Receives odom values

Definition at line 1445 of file purepursuit_planner.cpp.

ReturnValue purepursuit_planner_node::PointDlh	(	geometry_msgs::Pose2D	current_position,
		geometry_msgs::Pose2D *	wp
	)		`[inline]`

Returns a point in a distance dlookahead on the path.

Returns:: OK; ERROR

Definition at line 1125 of file purepursuit_planner.cpp.

void purepursuit_planner_node::PreemptCB ( ) [inline]

Called to cancel or replace current mision. (ActionServer)

Definition at line 1727 of file purepursuit_planner.cpp.

int purepursuit_planner_node::PurePursuit ( ) [inline]

High level control loop in cartesian coordinates obtains desiredSpeedMps and desiredPhiEffort according to the robot location and the path defined by the waypoints.

Returns:: 0 if the iteration is OK; -1 if there's a problem; 1 if the route finishes

Definition at line 1231 of file purepursuit_planner.cpp.

int purepursuit_planner_node::ReadAndPublish ( ) [inline]

Reads data a publish several info into different topics

Definition at line 867 of file purepursuit_planner.cpp.

void purepursuit_planner_node::ReadyState ( ) [inline, virtual]

Actions performed on ready state.

Reimplemented from Component.

Definition at line 992 of file purepursuit_planner.cpp.

oid purepursuit_planner_node::ROSSetup ( ) [inline]

Setups ROS' stuff.

Definition at line 786 of file purepursuit_planner.cpp.

void purepursuit_planner_node::SetLaserBack ( ) [inline]

Disables laser front, enables laser back

Definition at line 1769 of file purepursuit_planner.cpp.

void purepursuit_planner_node::SetLaserFront ( ) [inline]

Disables laser back, enables laser front

Definition at line 1754 of file purepursuit_planner.cpp.

void purepursuit_planner_node::SetRobotSpeed	(	double	speed,
		double	angle
	)		`[inline]`

Definition at line 1372 of file purepursuit_planner.cpp.

ReturnValue purepursuit_planner_node::Setup ( ) [inline, virtual]

Configures and initializes the component

Returns:: OK; INITIALIZED if the component is already intialized; ERROR

Configures and initializes the component

Returns:: OK; INITIALIZED if the component is already intialized; ERROR

Reimplemented from Component.

Definition at line 848 of file purepursuit_planner.cpp.

void purepursuit_planner_node::ShutDownState ( ) [inline]

Definition at line 1388 of file purepursuit_planner.cpp.

void purepursuit_planner_node::StandbyState ( ) [inline, virtual]

Actions performed on standby state.

Actions performed on Standby state.

Reimplemented from Component.

Definition at line 975 of file purepursuit_planner.cpp.

ReturnValue purepursuit_planner_node::Start ( ) [inline, virtual]

Start Controller.

Reimplemented from Component.

Definition at line 877 of file purepursuit_planner.cpp.

ReturnValue purepursuit_planner_node::Stop ( ) [inline, virtual]

Stop Controller.

Reimplemented from Component.

Definition at line 892 of file purepursuit_planner.cpp.

void purepursuit_planner_node::UpdateLookAhead ( ) [inline]

Updates (little by little) the variable lookahead depending of the current velocity.

Definition at line 1037 of file purepursuit_planner.cpp.

Member Data Documentation

actionlib::SimpleActionServer<planner_msgs::GoToAction> purepursuit_planner_node::action_server_goto [private]

Definition at line 738 of file purepursuit_planner.cpp.

bool purepursuit_planner_node::bCancel [private]

Flag to cancel the following path.

Definition at line 708 of file purepursuit_planner.cpp.

bool purepursuit_planner_node::bEnabled [private]

Flag to enable/disable the motion.

Definition at line 706 of file purepursuit_planner.cpp.

std::string purepursuit_planner_node::cmd_topic_vel_ [private]

Topic name to publish the vel & pos commands.

Definition at line 727 of file purepursuit_planner.cpp.

double purepursuit_planner_node::d_dist_wheel_to_center_ [private]

Distance from the robot center to the wheel's center.

Definition at line 702 of file purepursuit_planner.cpp.

double purepursuit_planner_node::d_lookahear_max_ [private]

Definition at line 700 of file purepursuit_planner.cpp.

double purepursuit_planner_node::d_lookahear_min_ [private]

Lookahead bounds.

Definition at line 700 of file purepursuit_planner.cpp.

double purepursuit_planner_node::desired_freq_ [private]

Definition at line 681 of file purepursuit_planner.cpp.

double purepursuit_planner_node::dLinearSpeed [private]

current robot's linear speed

Definition at line 698 of file purepursuit_planner.cpp.

double purepursuit_planner_node::dLookAhead [private]

Variable lookahead.

Definition at line 686 of file purepursuit_planner.cpp.

planner_msgs::GoToFeedback purepursuit_planner_node::goto_feedback [private]

Definition at line 739 of file purepursuit_planner.cpp.

planner_msgs::GoToGoal purepursuit_planner_node::goto_goal [private]

Definition at line 741 of file purepursuit_planner.cpp.

planner_msgs::GoToResult purepursuit_planner_node::goto_result [private]

Definition at line 740 of file purepursuit_planner.cpp.

double purepursuit_planner_node::Kr [private]

constant for Purepursuit

Definition at line 683 of file purepursuit_planner.cpp.

ros::Time purepursuit_planner_node::last_command_time [private]

Saves the time whenever receives a command msg and a transform between map and base link (if configured)

Definition at line 736 of file purepursuit_planner.cpp.

ros::Time purepursuit_planner_node::last_map_time [private]

Definition at line 736 of file purepursuit_planner.cpp.

tf::TransformListener purepursuit_planner_node::listener [private]

Definition at line 743 of file purepursuit_planner.cpp.

double purepursuit_planner_node::max_odom_freq [private]

Definition at line 734 of file purepursuit_planner.cpp.

double purepursuit_planner_node::max_speed_ [private]

Max allowed speed.

Definition at line 704 of file purepursuit_planner.cpp.

double purepursuit_planner_node::min_odom_freq [private]

Diagnostics min & max odometry freq.

Definition at line 734 of file purepursuit_planner.cpp.

std::string purepursuit_planner_node::name_sc_enable_back_laser_ [private]

Definition at line 747 of file purepursuit_planner.cpp.

std::string purepursuit_planner_node::name_sc_enable_front_laser_ [private]

service name to enable disable lasers

Definition at line 747 of file purepursuit_planner.cpp.

ros::NodeHandle purepursuit_planner_node::node_handle_ [private]

Definition at line 679 of file purepursuit_planner.cpp.

ros::Subscriber purepursuit_planner_node::odom_sub_ [private]

it subscribes to /odom

Definition at line 723 of file purepursuit_planner.cpp.

std::string purepursuit_planner_node::odom_topic_ [private]

Topic name to read the odometry from.

Definition at line 725 of file purepursuit_planner.cpp.

nav_msgs::Odometry purepursuit_planner_node::odometry_robot [private]

current robot's odometry

Definition at line 696 of file purepursuit_planner.cpp.

Path purepursuit_planner_node::pathCurrent [private]

Object with the current path that the robot is following.

Definition at line 688 of file purepursuit_planner.cpp.

Path purepursuit_planner_node::pathFilling [private]

Object with the path that is being filled.

Definition at line 690 of file purepursuit_planner.cpp.

geometry_msgs::Pose2D purepursuit_planner_node::pose2d_robot [private]

current robot's position

Definition at line 694 of file purepursuit_planner.cpp.

std::string purepursuit_planner_node::position_source_ [private]

Mode for reading the position of the robot ("ODOM", "MAP")

Definition at line 710 of file purepursuit_planner.cpp.

ros::NodeHandle purepursuit_planner_node::private_node_handle_ [private]

Definition at line 680 of file purepursuit_planner.cpp.

queue<Path> purepursuit_planner_node::qPath [private]

Vector with next paths to follow.

Definition at line 692 of file purepursuit_planner.cpp.

ros::ServiceClient purepursuit_planner_node::sc_enable_back_laser_ [private]

Service to enable/disable back laser.

Definition at line 751 of file purepursuit_planner.cpp.

ros::ServiceClient purepursuit_planner_node::sc_enable_front_laser_ [private]

Service to enable/disable front laser.

Definition at line 749 of file purepursuit_planner.cpp.

ros::Publisher purepursuit_planner_node::status_pub_ [private]

ROS Publishes the status of the robot

Definition at line 716 of file purepursuit_planner.cpp.

ros::Publisher purepursuit_planner_node::tranform_map_pub_ [private]

publish the transformation between map->base_link

Definition at line 721 of file purepursuit_planner.cpp.

tf::StampedTransform purepursuit_planner_node::transform [private]

Definition at line 744 of file purepursuit_planner.cpp.

unsigned int purepursuit_planner_node::ui_position_source [private]

Mode in numeric format.

Definition at line 712 of file purepursuit_planner.cpp.

diagnostic_updater::Updater purepursuit_planner_node::updater_diagnostic [private]

General status diagnostic updater.

Definition at line 732 of file purepursuit_planner.cpp.

diagnostic_updater::TopicDiagnostic* purepursuit_planner_node::updater_diagnostic_odom [private]

Diagnostic to control the frequency of the published odom.

Definition at line 730 of file purepursuit_planner.cpp.

ros::Publisher purepursuit_planner_node::vel_pub_ [private]

Publish to cmd vel (Ackermann) It will publish into command velocity (for the robot)

Definition at line 719 of file purepursuit_planner.cpp.

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

purepursuit_planner.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation