base_client.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 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 the 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 // author: Adam Leeper 00031 00032 #ifndef _BASE_CLIENT_H_ 00033 #define _BASE_CLIENT_H_ 00034 00035 #include <ros/ros.h> 00036 00037 #include <tf/transform_listener.h> 00038 #include <geometry_msgs/Twist.h> 00039 00040 #include <actionlib/client/simple_action_client.h> 00041 00042 #include <move_base_msgs/MoveBaseAction.h> 00043 #include <move_base_msgs/MoveBaseGoal.h> 00044 00045 #include <object_manipulator/tools/service_action_wrappers.h> 00046 #include <std_srvs/Empty.h> 00047 00048 namespace pr2_wrappers { 00049 00050 class BaseClient{ 00051 private: 00052 00054 ros::NodeHandle nh_; 00055 00057 ros::Publisher cmd_vel_pub_; 00058 00060 tf::TransformListener *tfl_; 00061 00063 bool delete_tfl_; 00064 00066 ros::Subscriber sub_nav_status_; 00067 00069 object_manipulator::ActionWrapper<move_base_msgs::MoveBaseAction> move_base_client_; 00070 //actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_; 00071 00073 bool move_base_active_; 00074 00075 00076 geometry_msgs::TwistStamped base_cmd_; 00077 btVector3 last_linear_; 00078 btVector3 last_angular_; 00079 00080 ros::Duration timeout_; 00081 00082 ros::Timer publish_timer_; 00083 00084 // Service clients 00085 object_manipulator::ServiceWrapper<std_srvs::Empty> local_costmap_reset_srv_; 00086 00088 void publishTwist(const ros::TimerEvent &e); 00089 00091 void moveBaseStatusCB( const actionlib_msgs::GoalStatusArrayConstPtr &array); 00092 00093 public: 00095 BaseClient(ros::NodeHandle &nh, const ros::Duration &timeout, tf::TransformListener *tfl = 0); 00096 00097 ~BaseClient(); 00098 00100 void applyTwist(const geometry_msgs::TwistStamped &twist); 00101 00103 bool hasGoal(); 00104 00106 //void queryGoalState(); 00107 00109 void cancelGoals(); 00110 00111 void sendNavGoal(const geometry_msgs::PoseStamped &ps); 00112 void clearLocalCostmap( ); 00113 00114 00115 }; 00116 00117 } 00118 00119 00120 #endif