laser_stop.cpp File Reference

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "sensor_msgs/LaserScan.h"
#include "../laserscan/LaserScanner.h"
#include "nav_msgs/Odometry.h"
#include "tf/tf.h"
#include <fstream>

Include dependency graph for laser_stop.cpp:

Go to the source code of this file.

Functions
double	avoidObstacle (double speed, double desiredSafeDistanceToObstacle)
bool	blendedBehavior (nav_msgs::Odometry goal_pose, double distance_tolerance)
double	getDistance (double x1, double y1, double x2, double y2)
bool	GoToGoal (nav_msgs::Odometry goal_pose, double distance_tolerance)
void	hardSwitches (nav_msgs::Odometry goal_pose)
int	main (int argc, char **argv)
double	minDistanceToObstacle ()
void	move (double speed, double distance, bool isForward)
void	poseCallback (const nav_msgs::Odometry::ConstPtr &pose_message)
void	scanCallback (sensor_msgs::LaserScan scanMessage)
nav_msgs::Odometry	setGoalPosition (double x, double y)
Variables
sensor_msgs::LaserScan	_scanMsg
nav_msgs::Odometry	obstacle_pose
ros::Subscriber	pose_subscriber
ros::Subscriber	scanSubscriber
nav_msgs::Odometry	turtlebot_odom_pose
ros::Publisher	velocity_publisher

---

Function Documentation

double avoidObstacle	(	double	speed,
		double	desiredSafeDistanceToObstacle
	)

move(1.0, desiredSafeDistanceToObstacle,false);

Definition at line 266 of file laser_stop.cpp.

bool blendedBehavior	(	nav_msgs::Odometry	goal_pose,
		double	distance_tolerance
	)

Definition at line 79 of file laser_stop.cpp.

double getDistance	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

Definition at line 223 of file laser_stop.cpp.

bool GoToGoal	(	nav_msgs::Odometry	goal_pose,
		double	distance_tolerance
	)

Definition at line 325 of file laser_stop.cpp.

void hardSwitches

(

nav_msgs::Odometry

goal_pose

)

Definition at line 181 of file laser_stop.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 53 of file laser_stop.cpp.

double minDistanceToObstacle

(

)

Definition at line 398 of file laser_stop.cpp.

void move	(	double	speed,
		double	distance,
		bool	isForward
	)

makes the robot move with a certain linear velocity for a certain distance in a forward or backward straight direction.

Definition at line 236 of file laser_stop.cpp.

void poseCallback

(

const nav_msgs::Odometry::ConstPtr &

pose_message

)

void scanCallback

(

sensor_msgs::LaserScan

scanMessage

)

Definition at line 227 of file laser_stop.cpp.

nav_msgs::Odometry setGoalPosition	(	double	x,
		double	y
	)

Definition at line 199 of file laser_stop.cpp.

---

Variable Documentation

sensor_msgs::LaserScan _scanMsg

Definition at line 32 of file laser_stop.cpp.

nav_msgs::Odometry obstacle_pose

Definition at line 39 of file laser_stop.cpp.

ros::Subscriber pose_subscriber

Definition at line 36 of file laser_stop.cpp.

ros::Subscriber scanSubscriber

Definition at line 34 of file laser_stop.cpp.

nav_msgs::Odometry turtlebot_odom_pose

Definition at line 38 of file laser_stop.cpp.

ros::Publisher velocity_publisher

Definition at line 33 of file laser_stop.cpp.