ias_drawer_executive: ias_drawer_executive: RobotDriver.h Source File

00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 #ifndef __ROBOT_DRIVER_H__
00032 #define __ROBOT_DRIVER_H__
00033 
00034 #include <ros/ros.h>
00035 
00036 #include <actionlib/client/simple_action_client.h>
00037 #include <actionlib/client/terminal_state.h>
00038 #include <pr2_common_action_msgs/ArmMoveIKAction.h>
00039 #include <tf/transform_listener.h>
00040 #include <move_base_msgs/MoveBaseAction.h>
00041 #include <geometry_msgs/Twist.h>
00042 #include <sensor_msgs/LaserScan.h>
00043 #include <sensor_msgs/PointCloud.h>
00044 #include <laser_geometry/laser_geometry.h>
00045 #include <boost/thread/mutex.hpp>
00046 
00047 
00048 class RobotDriver
00049 {
00050 private:
00052   ros::NodeHandle nh_;
00054   ros::Publisher cmd_vel_pub_;
00056   tf::TransformListener listener_;
00058   ros::Subscriber subScan_;
00059   laser_geometry::LaserProjection *projector_;
00060   boost::mutex scan_mutex;
00061   bool weHaveScan;
00062   double scanPoints[5000][2];
00063   size_t numScanPoints;
00064 
00066   RobotDriver();
00067 
00068   static RobotDriver *instance;
00069 
00070   void QuaternionToEuler(const btQuaternion &TQuat, btVector3 &TEuler);
00071 
00072 public:
00073 
00074   static RobotDriver *getInstance();
00075 
00076   void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_in);
00077 
00079   bool checkCollision(double relativePose[]);
00080 
00081   bool checkCollision(tf::Stamped<tf::Pose> target);
00082 
00083   void getRobotPose(tf::Stamped<tf::Pose> &marker);
00084 
00085 
00086   bool driveInMap(tf::Stamped<tf::Pose> targetPose,bool exitWhenStuck = false);
00087 
00089   bool driveInMap(const double targetPose[],bool exitWhenStuck = false);
00090 
00091   bool driveInOdom(const double targetPose[], bool exitWhenStuck = false);
00092 
00093   void moveBase(const double pose[], bool useNavigation = false);
00094 
00095   static void moveBase4(double x, double y, double oz, double ow, bool useNavigation = false);
00096 
00097   void moveBaseP(double x, double y, double oz, double ow, bool useNavigation = false);
00098 
00099   void driveToMatch(std::vector<tf::Stamped<tf::Pose> > targetPose, std::vector<std::string> frame_ids);
00100 
00101 };
00102 
00103 #endif