#include <nav_pcontroller.h>

Public Member Functions
	BasePController ()

void	main ()

	~BasePController ()

Private Member Functions
bool	comparePoses (double x1, double y1, double a1, double x2, double y2, double a2)

void	compute_p_control ()

void	cycle ()

double	limit_acc (double x, double x_old, double limit)

void	newGoal (const geometry_msgs::PoseStamped &msg)

void	newGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)

void	newMoveBaseGoal ()

double	p_control (double x, double p, double limit)

void	parseParams ()

void	preemptMoveBaseGoal ()

bool	retrieve_pose ()
	retrieves tf pose and updates (x_now_, y_now_, th_now_) More...

void	sendVelCmd (double vx, double vy, double vth)

void	stopRobot ()

Private Attributes
double	acc_ang_max_

double	acc_lin_max_

std::string	base_link_frame_

BaseDistance	dist_control_

ros::Duration	fail_timeout_

double	fail_velocity_

std::string	global_frame_

bool	goal_set_

bool	keep_distance_

double	laser_watchdog_timeout_

boost::mutex	lock

int	loop_rate_

ros::Time	low_speed_time_

actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >	move_base_actionserver_

ros::NodeHandle	n_

double	p_

ros::Publisher	pub_vel_

ros::Subscriber	sub_goal_

tf::TransformListener	tf_

double	th_goal_

double	th_now_

double	th_tolerance_

double	vel_ang_max_

double	vel_lin_max_

double	vth_

double	vx_

double	vy_

double	x_goal_

double	x_now_

double	xy_tolerance_

double	y_goal_

double	y_now_

Detailed Description

This is a P controller for navigation. Yeah, this line is a todo...

ROS topics

Subscribes to (name/type):

"/tf" tf/tfMessage: robot's pose in the "map" frame
"~goal" geometry_msgs/PoseStamped : goal for the robot.

Publishes to (name / type):

"/cmd_vel" geometry_msgs/Twist : velocity commands to robot
"state" nav_robot_actions/MoveBaseState : current planner state (e.g., goal reached, no path) ??? does it

Actionlib (name / type):

"~move_base/goal" move_base_msgs/MoveBaseActionGoal : similar to the move_base interface

ROS parameters

"global_frame" (string) : global map frame, default: "map"
"base_link_frame" (string) : base frame, default: "base_link"
"xy_tolerance" (double) : Goal distance tolerance (how close the robot must be to the goal before stopping), default: 0.05 m
"th_tolerance" (double) : Goal rotation tolerance (how close the robot must be to the goal before stopping), default: 0.05 rad
"vel_lin_max" (double) : maximum linear velocity, default: 0.2 m/s
"vel_ang_max" (double) : maximum angular velocity, default: 0.2 rad/s
"acc_lin_max" (double) : maximum linear acceleration, default: 0.1 m/s^2
"acc_ang_max" (double) : maximum angular acceleration, default: 0.1 rad/s^2
"loop_rate" (int) : rate at which the control loop runs, default: 30 s^-1
"p" (double) : P controller value, default: 1.0
"keep_distance" (bool) : use BaseDistance to avoid obstacles or not, default: true

Definition at line 79 of file nav_pcontroller.h.

Constructor & Destructor Documentation

BasePController::BasePController ( )

Definition at line 57 of file nav_pcontroller.cc.

BasePController::~BasePController ( )

Definition at line 76 of file nav_pcontroller.cc.

Member Function Documentation

bool BasePController::comparePoses	(	double	x1,
		double	y1,
		double	a1,
		double	x2,
		double	y2,
		double	a2
	)

private

Definition at line 332 of file nav_pcontroller.cc.

void BasePController::compute_p_control ( )

private

Definition at line 217 of file nav_pcontroller.cc.

void BasePController::cycle ( )

private

Definition at line 252 of file nav_pcontroller.cc.

double BasePController::limit_acc	(	double	x,
		double	x_old,
		double	limit
	)

private

Definition at line 50 of file nav_pcontroller.cc.

void BasePController::main ( )

Definition at line 80 of file nav_pcontroller.cc.

void BasePController::newGoal ( const geometry_msgs::PoseStamped & msg )

private

Definition at line 152 of file nav_pcontroller.cc.

void BasePController::newGoal ( const geometry_msgs::PoseStamped::ConstPtr & msg )

private

Definition at line 184 of file nav_pcontroller.cc.

void BasePController::newMoveBaseGoal ( )

private

Definition at line 132 of file nav_pcontroller.cc.

double BasePController::p_control	(	double	x,
		double	p,
		double	limit
	)

private

Definition at line 44 of file nav_pcontroller.cc.

void BasePController::parseParams ( )

private

Definition at line 93 of file nav_pcontroller.cc.

void BasePController::preemptMoveBaseGoal ( )

private

Definition at line 143 of file nav_pcontroller.cc.

bool BasePController::retrieve_pose ( )

private

retrieves tf pose and updates (x_now_, y_now_, th_now_)

Definition at line 193 of file nav_pcontroller.cc.

void BasePController::sendVelCmd	(	double	vx,
		double	vy,
		double	vth
	)

private

Definition at line 320 of file nav_pcontroller.cc.

void BasePController::stopRobot ( )

private

Definition at line 315 of file nav_pcontroller.cc.

Member Data Documentation

double BasePController::acc_ang_max_

private

Definition at line 85 of file nav_pcontroller.h.

double BasePController::acc_lin_max_

private

Definition at line 85 of file nav_pcontroller.h.

std::string BasePController::base_link_frame_

private

Definition at line 96 of file nav_pcontroller.h.

BaseDistance BasePController::dist_control_

private

Definition at line 98 of file nav_pcontroller.h.

ros::Duration BasePController::fail_timeout_

private

Definition at line 83 of file nav_pcontroller.h.

double BasePController::fail_velocity_

private

Definition at line 84 of file nav_pcontroller.h.

std::string BasePController::global_frame_

private

Definition at line 95 of file nav_pcontroller.h.

bool BasePController::goal_set_

private

Definition at line 91 of file nav_pcontroller.h.

bool BasePController::keep_distance_

private

Definition at line 91 of file nav_pcontroller.h.

double BasePController::laser_watchdog_timeout_

private

Definition at line 93 of file nav_pcontroller.h.

boost::mutex BasePController::lock

private

Definition at line 107 of file nav_pcontroller.h.

int BasePController::loop_rate_

private

Definition at line 86 of file nav_pcontroller.h.

ros::Time BasePController::low_speed_time_

private

Definition at line 105 of file nav_pcontroller.h.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> BasePController::move_base_actionserver_

private

Definition at line 125 of file nav_pcontroller.h.

ros::NodeHandle BasePController::n_

private

Definition at line 100 of file nav_pcontroller.h.

double BasePController::p_

private

Definition at line 85 of file nav_pcontroller.h.

ros::Publisher BasePController::pub_vel_

private

Definition at line 103 of file nav_pcontroller.h.

ros::Subscriber BasePController::sub_goal_

private

Definition at line 102 of file nav_pcontroller.h.

tf::TransformListener BasePController::tf_

private

Definition at line 101 of file nav_pcontroller.h.

double BasePController::th_goal_

private

Definition at line 89 of file nav_pcontroller.h.

double BasePController::th_now_

private

Definition at line 90 of file nav_pcontroller.h.

double BasePController::th_tolerance_

private

Definition at line 82 of file nav_pcontroller.h.

double BasePController::vel_ang_max_

private

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vel_lin_max_

private

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vth_

private

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vx_

private

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vy_

private

Definition at line 88 of file nav_pcontroller.h.

double BasePController::x_goal_

private

Definition at line 89 of file nav_pcontroller.h.

double BasePController::x_now_

private

Definition at line 90 of file nav_pcontroller.h.

double BasePController::xy_tolerance_

private

Definition at line 82 of file nav_pcontroller.h.

double BasePController::y_goal_

private

Definition at line 89 of file nav_pcontroller.h.

double BasePController::y_now_

private

Definition at line 90 of file nav_pcontroller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

ROS topics

ROS parameters

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation