The interactive world high level action server. More...

#include <HighLevelActions.h>

Public Member Functions
	HighLevelActions ()
	Create a HighLevelActions and associated ROS information.
bool	okay () const
	A check for a valid HighLevelActions.
Static Public Attributes
static const int	AC_WAIT_TIME = 60
static const double	QUATERNION_90_ROTATE = 0.7071067811865476
static const double	SURFACE_Z_THRESH = 0.1
Private Member Functions
void	driveAndSearch (const interactive_world_msgs::DriveAndSearchGoalConstPtr &goal)
	Callback for the object search action server.
bool	driveHelper (const std::string &frame_id)
	Navigation helper.
void	driveToSurface (const interactive_world_msgs::DriveToSurfaceGoalConstPtr &goal)
	Callback for the drive to surface action server.
bool	findSurfaceCallback (interactive_world_msgs::FindSurface::Request &req, interactive_world_msgs::FindSurface::Response &resp)
	Callback for the find surface server.
bool	getSurfacesCallback (interactive_world_msgs::GetSurfaces::Request &req, interactive_world_msgs::GetSurfaces::Response &resp)
void	recognizedObjectsCallback (const rail_manipulation_msgs::SegmentedObjectList &objects)
	Store the latest recognized objects.
tf2::Transform	tfFromPoseMessage (const geometry_msgs::Pose &pose)
	Create a new tf2 transform from a ROS message.
tf2::Transform	tfFromTFMessage (const geometry_msgs::Transform &tf)
	Create a new tf2 transform from a ROS message.
bool	transformToSurfaceFrame (interactive_world_msgs::TransformToSurfaceFrame::Request &req, interactive_world_msgs::TransformToSurfaceFrame::Response &resp)
Private Attributes
ros::Duration	ac_wait_time_
bool	debug_
actionlib::SimpleActionServer < interactive_world_msgs::DriveAndSearchAction >	drive_and_search_as_
actionlib::SimpleActionServer < interactive_world_msgs::DriveToSurfaceAction >	drive_to_surface_as_
ros::ServiceServer	find_surface_srv_
std::string	fixed_frame_
ros::ServiceServer	get_surfaces_srv_
actionlib::SimpleActionClient < rail_manipulation_msgs::ArmAction >	home_arm_ac_
ros::ServiceClient	look_at_frame_srv_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	nav_ac_
boost::mutex	nav_mutex_
ros::NodeHandle	node_
bool	okay_
ros::NodeHandle	private_node_
rail_manipulation_msgs::SegmentedObjectList	recognized_objects_
uint32_t	recognized_objects_counter_
boost::mutex	recognized_objects_mutex_
ros::Subscriber	recognized_objects_sub_
ros::ServiceClient	segment_srv_
std::map< std::string, geometry_msgs::TransformStamped >	static_tfs_
ros::ServiceServer	transform_to_surface_frame_srv_
World	world_

Detailed Description

The interactive world high level action server.

The high level action server contains high level functionality for doing things such as driving to surfaces.

Definition at line 43 of file HighLevelActions.h.

Constructor & Destructor Documentation

HighLevelActions::HighLevelActions ( )

Create a HighLevelActions and associated ROS information.

Creates a ROS node handle, subscribes to the relevant topics and servers, and creates interfaces for the different high level actions.

Definition at line 22 of file HighLevelActions.cpp.

Member Function Documentation

void HighLevelActions::driveAndSearch ( const interactive_world_msgs::DriveAndSearchGoalConstPtr & goal ) [private]

Callback for the object search action server.

The search action will search for a given object at a given surface in the world.

Parameters:

goal	The goal object specifying the parameters.

Definition at line 277 of file HighLevelActions.cpp.

bool HighLevelActions::driveHelper ( const std::string & frame_id ) [private]

Navigation helper.

Attempt to drive to the given frame.

Parameters:

frame_id The frame ID to drive to.

Returns:: True if the navigation was successful.

Definition at line 492 of file HighLevelActions.cpp.

void HighLevelActions::driveToSurface ( const interactive_world_msgs::DriveToSurfaceGoalConstPtr & goal ) [private]

Callback for the drive to surface action server.

The drive action will attempt to drive to a pre-defined naviagtion goal at a given surface.

Parameters:

goal	The goal object specifying the parameters.

Definition at line 398 of file HighLevelActions.cpp.

bool HighLevelActions::findSurfaceCallback	(	interactive_world_msgs::FindSurface::Request &	req,
		interactive_world_msgs::FindSurface::Response &	resp
	)		`[private]`

Callback for the find surface server.

Searches for the surface in the world that the given point is on (within some threshold).

Parameters:

req	The request with the point to check.
resp	The response with the surface name and frame (if any).

Returns:: True if the call was successful.

Definition at line 198 of file HighLevelActions.cpp.

bool HighLevelActions::getSurfacesCallback	(	interactive_world_msgs::GetSurfaces::Request &	req,
		interactive_world_msgs::GetSurfaces::Response &	resp
	)		`[private]`

Definition at line 134 of file HighLevelActions.cpp.

bool HighLevelActions::okay ( ) const

A check for a valid HighLevelActions.

This function will return true if valid parameters were parsed from a YAML config file.

Returns:: True if valid parameters were parsed.

Definition at line 129 of file HighLevelActions.cpp.

void HighLevelActions::recognizedObjectsCallback ( const rail_manipulation_msgs::SegmentedObjectList & objects ) [private]

Store the latest recognized objects.

Stores the latest recognized objects from the segmentation topic.

Parameters:

objects The latest recognized objects.

Definition at line 522 of file HighLevelActions.cpp.

tf2::Transform HighLevelActions::tfFromPoseMessage ( const geometry_msgs::Pose & pose ) [private]

Create a new tf2 transform from a ROS message.

Creates and returns a new TF2 transform object from a ROS message.

Parameters:

pose	The ROS pose message to take values from.

Returns:: The new tf2 transform.

Definition at line 515 of file HighLevelActions.cpp.

tf2::Transform HighLevelActions::tfFromTFMessage ( const geometry_msgs::Transform & tf ) [private]

Create a new tf2 transform from a ROS message.

Creates and returns a new TF2 transform object from a ROS message.

Parameters:

tf	The ROS transform message to take values from.

Returns:: The new tf2 transform.

Definition at line 508 of file HighLevelActions.cpp.

bool HighLevelActions::transformToSurfaceFrame	(	interactive_world_msgs::TransformToSurfaceFrame::Request &	req,
		interactive_world_msgs::TransformToSurfaceFrame::Response &	resp
	)		`[private]`