35 geometry_msgs::Twist t = *msg;
49 double front, rear, left, right, tolerance;
50 n_.
param(
"footprint/left", left, 0.309);
51 n_.
param(
"footprint/right", right, -0.309);
52 n_.
param(
"footprint/front", front, 0.43);
53 n_.
param(
"footprint/rear", rear, -0.43);
54 n_.
param(
"footprint/tolerance", tolerance, 0.0);
58 int main(
int argc,
char *argv[])
void publish(const boost::shared_ptr< M > &message) const
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
BaseDistance dist_control_
void input_vel(const geometry_msgs::Twist::ConstPtr &msg)
void setFootprint(double front, double rear, double left, double right, double tolerance)
Sets front_, rear_, left_, right_, tolerance_, and early_reject_distance_.
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
int main(int argc, char *argv[])
void compute_distance_keeping(double *vx, double *vy, double *vth)
Sets vx_last_, vy_last and vth_last_ to input parameters, adjusting them.