Public Member Functions
bool	getRobotPose (tf::StampedTransform &globalToBase, const std::string &global_frame_id)
void	goalActionCB (const move_base_msgs::MoveBaseGoalConstPtr &goal)
void	goalCB (const geometry_msgs::PoseStampedConstPtr &goal)
void	pathActionCB (const naoqi_bridge_msgs::FollowPathGoalConstPtr &goal)
void	pathCB (const nav_msgs::PathConstPtr &goal)
	PathFollower ()
	~PathFollower ()
Private Member Functions
void	footContactCallback (const std_msgs::BoolConstPtr &contact)
bool	getNextTarget (const nav_msgs::Path &path, const tf::Pose &robotPose, const std::vector< geometry_msgs::PoseStamped >::const_iterator &currentPathPoseIt, tf::Stamped< tf::Transform > &targetPose, std::vector< geometry_msgs::PoseStamped >::const_iterator &targetPathPoseIt)
void	inhibitJoystick ()
void	publishTargetPoseVis (const tf::Stamped< tf::Pose > &targetPose)
	Publishes the target pose as a geometry_msgs/Pose for visualization.
void	setVelocity (const tf::Transform &relTarget)
	Velocity controller.
void	stopWalk ()
	Stop walk and uninhibit joystick.
Private Attributes
ros::Publisher	m_actionGoalPub
ros::Publisher	m_actionPathPub
std::string	m_baseFrameId
	Base frame of the robot.
double	m_controllerFreq
	Desired frequency for controller loop.
bool	m_footContact
	True = robot currently has foot contact with the ground.
ros::Subscriber	m_footContactSub
ros::ServiceClient	m_inhibitWalkClient
bool	m_isJoystickInhibited
	True = joystick walk commands are inhibited.
const double	m_maxStepFreq
	Maximum step frequency (2.38 Hz according to Nao documentation).
double	m_maxVelFractionX
	Maximum fraction of forward velocity for velocity controller, between 0.0 and 1.0.
double	m_maxVelFractionY
	Maximum fraction of sideways velocity for velocity controller, between 0.0 and 1.0.
double	m_maxVelFractionYaw
	Maximum fraction of rotational velocity for velocity controller, between 0.0 and 1.0.
const double	m_maxVelXY
	Maximum translational velocity (0.0952 m/s according to Nao documentation).
const double	m_maxVelYaw
	Maximum rotational velocity (47.6 deg/s according to Nao documentation).
const double	m_minStepFreq
	Minimum step frequency (1.67 Hz according to Nao documentation).
double	m_pathNextTargetDistance
	Cumulative Distance to next Velocity Target from current robot pose along path.
double	m_pathStartMaxDistance
	Max distance to start of path from robot pose to accept path (safety)
tf::Transform	m_prevRelTarget
	previous rel.target (used to prevent oscillations)
ros::Subscriber	m_simpleGoalSub
ros::Subscriber	m_simplePathSub
double	m_stepFactor
	Fraction of the maximum step frequency.
double	m_stepFreq
	Step frequency (should be set to the same value as in nao_walker).
bool	m_straight
	True = robot has a straight path in front of it with minimum length m_straightThreshold.
double	m_straightMaxPathDev
	Maximum angle deviation of the path off a straight (i.e. a curve in the path) until it is not recognized as such anymore.
double	m_straightMaxRobotDev
	Maximum XY deviation of the robot off a straight until it is not recognized as such anymore.
double	m_straightMaxRobotYaw
	Maximum angle of the robot off a straight until it is not recognized as such anymore.
double	m_straightOffset
	Length of the targetPose offset if a straight is recognized.
double	m_straightThreshold
	Minimum length of a straigth that is to be recognized as such.
double	m_targetAngThres
	Maximum angular deviation to reach target orientation.
double	m_targetDistThres
	Maximum linear deviation to reach target point.
ros::Publisher	m_targetPub
tf::TransformListener	m_tfListener
double	m_thresholdDampXY
	Slow down when distance to goal is smaller than this value [in meters].
double	m_thresholdDampYaw
	Slow down rotation when angular deviation from goal pose is smaller than this value [in radians].
double	m_thresholdFar
double	m_thresholdRotate
ros::ServiceClient	m_uninhibitWalkClient
bool	m_useFootContactProtection
	True = abort walk when robot is lifted off the ground.
bool	m_useVelocityController
	True = use simple velocity controller, false = use Aldebaran's walkTo controller.
geometry_msgs::Twist	m_velocity
	last published velocity (used to prevent oscillations)
ros::Publisher	m_velPub
ros::Publisher	m_visPub
actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	m_walkGoalServer
actionlib::SimpleActionServer < naoqi_bridge_msgs::FollowPathAction >	m_walkPathServer
double	m_waypointAngThres
	Maximum angular deviation to switch to next waypoint on path.
double	m_waypointDistThres
	Maximum linear deviation to switch to next waypoint on path.
ros::NodeHandle	nh
ros::NodeHandle	privateNh

Detailed Description

Definition at line 48 of file nao_path_follower.cpp.

Constructor & Destructor Documentation

PathFollower::PathFollower ( )

Definition at line 116 of file nao_path_follower.cpp.

PathFollower::~PathFollower ( )

Definition at line 193 of file nao_path_follower.cpp.

Member Function Documentation

void PathFollower::footContactCallback ( const std_msgs::BoolConstPtr & contact ) [private]

Definition at line 228 of file nao_path_follower.cpp.

bool PathFollower::getNextTarget	(	const nav_msgs::Path &	path,
		const tf::Pose &	robotPose,
		const std::vector< geometry_msgs::PoseStamped >::const_iterator &	currentPathPoseIt,
		tf::Stamped< tf::Transform > &	targetPose,
		std::vector< geometry_msgs::PoseStamped >::const_iterator &	targetPathPoseIt
	)		`[private]`

Definition at line 345 of file nao_path_follower.cpp.

bool PathFollower::getRobotPose	(	tf::StampedTransform &	globalToBase,
		const std::string &	global_frame_id
	)

Definition at line 257 of file nao_path_follower.cpp.

void PathFollower::goalActionCB ( const move_base_msgs::MoveBaseGoalConstPtr & goal )

Definition at line 687 of file nao_path_follower.cpp.

void PathFollower::goalCB ( const geometry_msgs::PoseStampedConstPtr & goal )

Definition at line 211 of file nao_path_follower.cpp.

void PathFollower::inhibitJoystick ( ) [private]

Definition at line 232 of file nao_path_follower.cpp.

void PathFollower::pathActionCB ( const naoqi_bridge_msgs::FollowPathGoalConstPtr & goal )

Definition at line 469 of file nao_path_follower.cpp.

void PathFollower::pathCB ( const nav_msgs::PathConstPtr & goal )

Definition at line 219 of file nao_path_follower.cpp.

void PathFollower::publishTargetPoseVis ( const tf::Stamped< tf::Pose > & targetPose ) [private]

Publishes the target pose as a geometry_msgs/Pose for visualization.

Parameters:

targetPose Target pose to publish.

Definition at line 205 of file nao_path_follower.cpp.

void PathFollower::setVelocity ( const tf::Transform & relTarget ) [private]

Velocity controller.

Parameters:

relTarget Target pose relative to the current robot pose.

Strategy:

distance            | angle               | strategy
-----------------------------------------------------------------
> m_thresholdFar    | > m_thresholdRotate | rotate on the spot towards the target
> m_thresholdFar    | < m_thresholdRotate | walk towards the target, orient towards the target
> m_targetDistThres |                     | walk towards the target, orient towards final yaw angle
< m_targetDistThres | > m_targetAngThres  | rotate on the spot towards final yaw angle
< m_targetDistThres | < m_targetAngThres  | stop

Definition at line 846 of file nao_path_follower.cpp.

void PathFollower::stopWalk ( ) [private]

Stop walk and uninhibit joystick.

Definition at line 797 of file nao_path_follower.cpp.

Member Data Documentation

ros::Publisher PathFollower::m_actionGoalPub [private]

Definition at line 70 of file nao_path_follower.cpp.

ros::Publisher PathFollower::m_actionPathPub [private]

Definition at line 70 of file nao_path_follower.cpp.

std::string PathFollower::m_baseFrameId [private]

Base frame of the robot.

Definition at line 80 of file nao_path_follower.cpp.

double PathFollower::m_controllerFreq [private]

Desired frequency for controller loop.

Definition at line 81 of file nao_path_follower.cpp.

bool PathFollower::m_footContact [private]

True = robot currently has foot contact with the ground.

Definition at line 88 of file nao_path_follower.cpp.

ros::Subscriber PathFollower::m_footContactSub [private]

Definition at line 75 of file nao_path_follower.cpp.

ros::ServiceClient PathFollower::m_inhibitWalkClient [private]

Definition at line 74 of file nao_path_follower.cpp.

bool PathFollower::m_isJoystickInhibited [private]

True = joystick walk commands are inhibited.

Definition at line 86 of file nao_path_follower.cpp.

const double PathFollower::m_maxStepFreq [private]

Maximum step frequency (2.38 Hz according to Nao documentation).

Definition at line 100 of file nao_path_follower.cpp.

double PathFollower::m_maxVelFractionX [private]

Maximum fraction of forward velocity for velocity controller, between 0.0 and 1.0.

Definition at line 92 of file nao_path_follower.cpp.

double PathFollower::m_maxVelFractionY [private]

Maximum fraction of sideways velocity for velocity controller, between 0.0 and 1.0.

Definition at line 93 of file nao_path_follower.cpp.

double PathFollower::m_maxVelFractionYaw [private]

Maximum fraction of rotational velocity for velocity controller, between 0.0 and 1.0.

Definition at line 94 of file nao_path_follower.cpp.

const double PathFollower::m_maxVelXY [private]

Maximum translational velocity (0.0952 m/s according to Nao documentation).

Definition at line 97 of file nao_path_follower.cpp.

const double PathFollower::m_maxVelYaw [private]

Maximum rotational velocity (47.6 deg/s according to Nao documentation).

Definition at line 98 of file nao_path_follower.cpp.

const double PathFollower::m_minStepFreq [private]

Minimum step frequency (1.67 Hz according to Nao documentation).

Definition at line 99 of file nao_path_follower.cpp.

double PathFollower::m_pathNextTargetDistance [private]

Cumulative Distance to next Velocity Target from current robot pose along path.

Definition at line 106 of file nao_path_follower.cpp.

double PathFollower::m_pathStartMaxDistance [private]

Max distance to start of path from robot pose to accept path (safety)

Definition at line 107 of file nao_path_follower.cpp.

tf::Transform PathFollower::m_prevRelTarget [private]

previous rel.target (used to prevent oscillations)

Definition at line 77 of file nao_path_follower.cpp.

ros::Subscriber PathFollower::m_simpleGoalSub [private]

Definition at line 69 of file nao_path_follower.cpp.

ros::Subscriber PathFollower::m_simplePathSub [private]

Definition at line 69 of file nao_path_follower.cpp.

double PathFollower::m_stepFactor [private]

Fraction of the maximum step frequency.

Definition at line 96 of file nao_path_follower.cpp.

double PathFollower::m_stepFreq [private]

Step frequency (should be set to the same value as in nao_walker).

Definition at line 95 of file nao_path_follower.cpp.

bool PathFollower::m_straight [private]

True = robot has a straight path in front of it with minimum length m_straightThreshold.

Definition at line 113 of file nao_path_follower.cpp.

double PathFollower::m_straightMaxPathDev [private]

Maximum angle deviation of the path off a straight (i.e. a curve in the path) until it is not recognized as such anymore.

Definition at line 110 of file nao_path_follower.cpp.

double PathFollower::m_straightMaxRobotDev [private]

Maximum XY deviation of the robot off a straight until it is not recognized as such anymore.

Definition at line 108 of file nao_path_follower.cpp.

double PathFollower::m_straightMaxRobotYaw [private]

Maximum angle of the robot off a straight until it is not recognized as such anymore.

Definition at line 109 of file nao_path_follower.cpp.

double PathFollower::m_straightOffset [private]

Length of the targetPose offset if a straight is recognized.

Definition at line 112 of file nao_path_follower.cpp.

double PathFollower::m_straightThreshold [private]

Minimum length of a straigth that is to be recognized as such.

Definition at line 111 of file nao_path_follower.cpp.

double PathFollower::m_targetAngThres [private]

Maximum angular deviation to reach target orientation.

Definition at line 83 of file nao_path_follower.cpp.

double PathFollower::m_targetDistThres [private]

Maximum linear deviation to reach target point.

Definition at line 82 of file nao_path_follower.cpp.

ros::Publisher PathFollower::m_targetPub [private]

Definition at line 70 of file nao_path_follower.cpp.

tf::TransformListener PathFollower::m_tfListener [private]

Definition at line 71 of file nao_path_follower.cpp.

double PathFollower::m_thresholdDampXY [private]

Slow down when distance to goal is smaller than this value [in meters].

Definition at line 103 of file nao_path_follower.cpp.

double PathFollower::m_thresholdDampYaw [private]

Slow down rotation when angular deviation from goal pose is smaller than this value [in radians].

Definition at line 104 of file nao_path_follower.cpp.

double PathFollower::m_thresholdFar [private]

See also:: PathFollower::setVelocity()

Definition at line 101 of file nao_path_follower.cpp.

double PathFollower::m_thresholdRotate [private]

See also:: PathFollower::setVelocity()

Definition at line 102 of file nao_path_follower.cpp.

ros::ServiceClient PathFollower::m_uninhibitWalkClient [private]

Definition at line 74 of file nao_path_follower.cpp.

bool PathFollower::m_useFootContactProtection [private]

True = abort walk when robot is lifted off the ground.

Definition at line 87 of file nao_path_follower.cpp.

bool PathFollower::m_useVelocityController [private]

True = use simple velocity controller, false = use Aldebaran's walkTo controller.

Definition at line 91 of file nao_path_follower.cpp.

geometry_msgs::Twist PathFollower::m_velocity [private]

last published velocity (used to prevent oscillations)

Definition at line 78 of file nao_path_follower.cpp.

ros::Publisher PathFollower::m_velPub [private]

Definition at line 70 of file nao_path_follower.cpp.

ros::Publisher PathFollower::m_visPub [private]

Definition at line 70 of file nao_path_follower.cpp.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> PathFollower::m_walkGoalServer [private]

Definition at line 72 of file nao_path_follower.cpp.

actionlib::SimpleActionServer<naoqi_bridge_msgs::FollowPathAction> PathFollower::m_walkPathServer [private]

Definition at line 73 of file nao_path_follower.cpp.

double PathFollower::m_waypointAngThres [private]

Maximum angular deviation to switch to next waypoint on path.

Definition at line 85 of file nao_path_follower.cpp.

double PathFollower::m_waypointDistThres [private]

Maximum linear deviation to switch to next waypoint on path.

Definition at line 84 of file nao_path_follower.cpp.

ros::NodeHandle PathFollower::nh [private]

Definition at line 67 of file nao_path_follower.cpp.

ros::NodeHandle PathFollower::privateNh [private]

Definition at line 68 of file nao_path_follower.cpp.

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

nao_path_follower.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation