Classes | Public Member Functions | Private Attributes
ReactiveNav2DNode Class Reference

List of all members.

Classes

struct  MyReactiveInterface
struct  TAuxInitializer

Public Member Functions

void navigateTo (const mrpt::math::TPose2D &target)
 Issue a navigation command.
void onDoNavigation (const ros::TimerEvent &)
void onRosGoalReceived (const geometry_msgs::PoseStampedConstPtr &trg_ptr)
void onRosLocalObstacles (const sensor_msgs::PointCloudConstPtr &obs)
void onRosSetRobotShape (const geometry_msgs::PolygonConstPtr &newShape)
 ReactiveNav2DNode (int argc, char **argv)

Private Attributes

bool m_1st_time_init
 Reactive initialization done?
TAuxInitializer m_auxinit
 Just to make sure ROS is init first.
std::string m_frameid_reference
std::string m_frameid_robot
CSimplePointsMap m_last_obstacles
std::mutex m_last_obstacles_cs
ros::NodeHandle m_localn
 "~"
double m_nav_period
ros::NodeHandle m_nh
 The node handle.
CTimeLogger m_profiler
std::string m_pub_topic_reactive_nav_goal
MyReactiveInterface m_reactive_if
CReactiveNavigationSystem m_reactive_nav_engine
std::mutex m_reactive_nav_engine_cs
bool m_save_nav_log
std::string m_sub_topic_local_obstacles
std::string m_sub_topic_robot_shape
double m_target_allowed_distance
ros::Timer m_timer_run_nav
ROS pubs/subs
ros::Subscriber m_sub_nav_goal
ros::Subscriber m_sub_local_obs
ros::Subscriber m_sub_robot_shape
ros::Publisher m_pub_cmd_vel
tf::TransformListener m_tf_listener
 Use to retrieve TF data.

Detailed Description

Definition at line 75 of file mrpt_reactivenav2d_node.cpp.


Constructor & Destructor Documentation

ReactiveNav2DNode::ReactiveNav2DNode ( int  argc,
char **  argv 
) [inline]

Constructor: Inits ROS system

Definition at line 262 of file mrpt_reactivenav2d_node.cpp.


Member Function Documentation

void ReactiveNav2DNode::navigateTo ( const mrpt::math::TPose2D &  target) [inline]

Issue a navigation command.

Parameters:
targetThe target location

Definition at line 366 of file mrpt_reactivenav2d_node.cpp.

Callback: On run navigation

Definition at line 391 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosGoalReceived ( const geometry_msgs::PoseStampedConstPtr &  trg_ptr) [inline]

Definition at line 414 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosLocalObstacles ( const sensor_msgs::PointCloudConstPtr &  obs) [inline]

Definition at line 443 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosSetRobotShape ( const geometry_msgs::PolygonConstPtr &  newShape) [inline]

Definition at line 451 of file mrpt_reactivenav2d_node.cpp.


Member Data Documentation

Reactive initialization done?

Definition at line 100 of file mrpt_reactivenav2d_node.cpp.

Just to make sure ROS is init first.

Definition at line 87 of file mrpt_reactivenav2d_node.cpp.

Definition at line 108 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_frameid_robot [private]

Definition at line 109 of file mrpt_reactivenav2d_node.cpp.

CSimplePointsMap ReactiveNav2DNode::m_last_obstacles [private]

Definition at line 115 of file mrpt_reactivenav2d_node.cpp.

Definition at line 116 of file mrpt_reactivenav2d_node.cpp.

"~"

Definition at line 89 of file mrpt_reactivenav2d_node.cpp.

Definition at line 102 of file mrpt_reactivenav2d_node.cpp.

The node handle.

Definition at line 88 of file mrpt_reactivenav2d_node.cpp.

CTimeLogger ReactiveNav2DNode::m_profiler [private]

Definition at line 86 of file mrpt_reactivenav2d_node.cpp.

Definition at line 96 of file mrpt_reactivenav2d_node.cpp.

Definition at line 104 of file mrpt_reactivenav2d_node.cpp.

Definition at line 255 of file mrpt_reactivenav2d_node.cpp.

CReactiveNavigationSystem ReactiveNav2DNode::m_reactive_nav_engine [private]

Definition at line 257 of file mrpt_reactivenav2d_node.cpp.

Definition at line 258 of file mrpt_reactivenav2d_node.cpp.

Definition at line 111 of file mrpt_reactivenav2d_node.cpp.

Definition at line 94 of file mrpt_reactivenav2d_node.cpp.

Definition at line 93 of file mrpt_reactivenav2d_node.cpp.

Definition at line 95 of file mrpt_reactivenav2d_node.cpp.

Definition at line 105 of file mrpt_reactivenav2d_node.cpp.

Definition at line 106 of file mrpt_reactivenav2d_node.cpp.

Definition at line 101 of file mrpt_reactivenav2d_node.cpp.

Use to retrieve TF data.

Definition at line 97 of file mrpt_reactivenav2d_node.cpp.

Definition at line 113 of file mrpt_reactivenav2d_node.cpp.


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


mrpt_reactivenav2d
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Thu Jun 6 2019 21:53:26