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.
mrpt::utils::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.

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Detailed Description

Definition at line 62 of file mrpt_reactivenav2d_node.cpp.

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Constructor & Destructor Documentation

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

Constructor: Inits ROS system

Definition at line 247 of file mrpt_reactivenav2d_node.cpp.

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Member Function Documentation

void ReactiveNav2DNode::navigateTo

(

const mrpt::math::TPose2D &

target

)

[inline]

Issue a navigation command.

Parameters:

target

The target location

Definition at line 351 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onDoNavigation

(

const ros::TimerEvent &

)

[inline]

Callback: On run navigation

Definition at line 376 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosGoalReceived

(

const geometry_msgs::PoseStampedConstPtr &

trg_ptr

)

[inline]

Definition at line 399 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosLocalObstacles

(

const sensor_msgs::PointCloudConstPtr &

obs

)

[inline]

Definition at line 430 of file mrpt_reactivenav2d_node.cpp.

void ReactiveNav2DNode::onRosSetRobotShape

(

const geometry_msgs::PolygonConstPtr &

newShape

)

[inline]

Definition at line 438 of file mrpt_reactivenav2d_node.cpp.

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Member Data Documentation

bool ReactiveNav2DNode::m_1st_time_init [private]

Reactive initialization done?

Definition at line 87 of file mrpt_reactivenav2d_node.cpp.

TAuxInitializer ReactiveNav2DNode::m_auxinit [private]

Just to make sure ROS is init first.

Definition at line 74 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_frameid_reference [private]

Definition at line 95 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_frameid_robot [private]

Definition at line 96 of file mrpt_reactivenav2d_node.cpp.

CSimplePointsMap ReactiveNav2DNode::m_last_obstacles [private]

Definition at line 102 of file mrpt_reactivenav2d_node.cpp.

std::mutex ReactiveNav2DNode::m_last_obstacles_cs [private]

Definition at line 103 of file mrpt_reactivenav2d_node.cpp.

ros::NodeHandle ReactiveNav2DNode::m_localn [private]

"~"

Definition at line 76 of file mrpt_reactivenav2d_node.cpp.

double ReactiveNav2DNode::m_nav_period [private]

Definition at line 89 of file mrpt_reactivenav2d_node.cpp.

ros::NodeHandle ReactiveNav2DNode::m_nh [private]

The node handle.

Definition at line 75 of file mrpt_reactivenav2d_node.cpp.

mrpt::utils::CTimeLogger ReactiveNav2DNode::m_profiler [private]

Definition at line 73 of file mrpt_reactivenav2d_node.cpp.

ros::Publisher ReactiveNav2DNode::m_pub_cmd_vel [private]

Definition at line 83 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_pub_topic_reactive_nav_goal [private]

Definition at line 91 of file mrpt_reactivenav2d_node.cpp.

MyReactiveInterface ReactiveNav2DNode::m_reactive_if [private]

Definition at line 240 of file mrpt_reactivenav2d_node.cpp.

CReactiveNavigationSystem ReactiveNav2DNode::m_reactive_nav_engine [private]

Definition at line 242 of file mrpt_reactivenav2d_node.cpp.

std::mutex ReactiveNav2DNode::m_reactive_nav_engine_cs [private]

Definition at line 243 of file mrpt_reactivenav2d_node.cpp.

bool ReactiveNav2DNode::m_save_nav_log [private]

Definition at line 98 of file mrpt_reactivenav2d_node.cpp.

ros::Subscriber ReactiveNav2DNode::m_sub_local_obs [private]

Definition at line 81 of file mrpt_reactivenav2d_node.cpp.

ros::Subscriber ReactiveNav2DNode::m_sub_nav_goal [private]

Definition at line 80 of file mrpt_reactivenav2d_node.cpp.

ros::Subscriber ReactiveNav2DNode::m_sub_robot_shape [private]

Definition at line 82 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_sub_topic_local_obstacles [private]

Definition at line 92 of file mrpt_reactivenav2d_node.cpp.

std::string ReactiveNav2DNode::m_sub_topic_robot_shape [private]

Definition at line 93 of file mrpt_reactivenav2d_node.cpp.

double ReactiveNav2DNode::m_target_allowed_distance [private]

Definition at line 88 of file mrpt_reactivenav2d_node.cpp.

tf::TransformListener ReactiveNav2DNode::m_tf_listener [private]

Use to retrieve TF data.

Definition at line 84 of file mrpt_reactivenav2d_node.cpp.

ros::Timer ReactiveNav2DNode::m_timer_run_nav [private]

Definition at line 100 of file mrpt_reactivenav2d_node.cpp.

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

• mrpt_reactivenav2d_node.cpp