pose_base_controller.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef POSE_BASE_CONTROLLER_POSE_BASE_CONTROLLER_H_
38 #define POSE_BASE_CONTROLLER_POSE_BASE_CONTROLLER_H_
39 #include <ros/ros.h>
40 #include <tf/tf.h>
41 #include <tf/transform_listener.h>
43 #include <move_base_msgs/MoveBaseAction.h>
44 #include <geometry_msgs/PoseStamped.h>
45 #include <geometry_msgs/Pose.h>
46 #include <geometry_msgs/Twist.h>
47 #include <nav_msgs/Odometry.h>
48 
49 #include <boost/thread.hpp>
50 
53  private:
55 
56  public:
58 
60 
61  void execute(const move_base_msgs::MoveBaseGoalConstPtr& user_goal);
62  bool controlLoop(const move_base_msgs::MoveBaseGoal& current_goal);
64 
65  inline double sign(double n){
66  return n < 0.0 ? -1.0 : 1.0;
67  }
68 
69  geometry_msgs::Twist diff2D(const tf::Pose& pose1, const tf::Pose& pose2);
70  geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);
71  double headingDiff(double pt_x, double pt_y, double x, double y, double heading);
72  move_base_msgs::MoveBaseGoal goalToFixedFrame(const move_base_msgs::MoveBaseGoal& goal);
73 
74  private:
75  void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
76  bool stopped();
77 
78  MoveBaseActionServer action_server_;
87  std::string fixed_frame_, base_frame_;
88  bool holonomic_;
89  boost::mutex odom_lock_;
91  nav_msgs::Odometry base_odom_;
93  };
94 };
95 #endif
TFSIMD_FORCE_INLINE const tfScalar & y() const
geometry_msgs::Twist limitTwist(const geometry_msgs::Twist &twist)
geometry_msgs::Twist diff2D(const tf::Pose &pose1, const tf::Pose &pose2)
void odomCallback(const nav_msgs::Odometry::ConstPtr &msg)
void execute(const move_base_msgs::MoveBaseGoalConstPtr &user_goal)
bool controlLoop(const move_base_msgs::MoveBaseGoal &current_goal)
TFSIMD_FORCE_INLINE const tfScalar & x() const
move_base_msgs::MoveBaseGoal goalToFixedFrame(const move_base_msgs::MoveBaseGoal &goal)
double headingDiff(double pt_x, double pt_y, double x, double y, double heading)
actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction > MoveBaseActionServer


pose_base_controller
Author(s): Eitan Marder-Eppstein
autogenerated on Mon Jun 22 2020 03:18:13