pr2_wrappers::BaseClient Class Reference

#include <base_client.h>

List of all members.

Public Member Functions
void	applyTwist (const geometry_msgs::TwistStamped &twist)
	Commands a straight-up movement command to the base.
	BaseClient (ros::NodeHandle &nh, const ros::Duration &timeout, tf::TransformListener *tfl=0)
	Initialization.
void	cancelGoals ()
	Deprecated...
void	clearLocalCostmap ()
bool	hasGoal ()
	Returns true if the nav stack is active.
void	sendNavGoal (const geometry_msgs::PoseStamped &ps)
	~BaseClient ()
Private Member Functions
void	moveBaseStatusCB (const actionlib_msgs::GoalStatusArrayConstPtr &array)
	Callback for receiving status of move base client.
void	publishTwist (const ros::TimerEvent &e)
	Publish last stored twist message at each timer interval; has a (very CRITICAL) time-out for safety.
Private Attributes
geometry_msgs::TwistStamped	base_cmd_
ros::Publisher	cmd_vel_pub_
	Publisher handle; default topic will be "cmd_vel".
bool	delete_tfl_
	A flag to determine whether to delete the TF listener on destruction.
btVector3	last_angular_
btVector3	last_linear_
object_manipulator::ServiceWrapper < std_srvs::Empty >	local_costmap_reset_srv_
bool	move_base_active_
	A bool representing if the move_base action server is active.
object_manipulator::ActionWrapper < move_base_msgs::MoveBaseAction >	move_base_client_
	A actionlib client to the move_base action server.
ros::NodeHandle	nh_
	The node handle we'll be using.
ros::Timer	publish_timer_
ros::Subscriber	sub_nav_status_
	A subscriber for listening to the status of the nav stack.
tf::TransformListener *	tfl_
	TF listener pointer; a new one only gets created if one is not passed in on construction.
ros::Duration	timeout_

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Detailed Description

Definition at line 50 of file base_client.h.

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Constructor & Destructor Documentation

pr2_wrappers::BaseClient::BaseClient	(	ros::NodeHandle &	nh,
		const ros::Duration &	timeout,
		tf::TransformListener *	tfl = 0
	)

Initialization.

Definition at line 37 of file base_client.cpp.

pr2_wrappers::BaseClient::~BaseClient

(

)

Definition at line 66 of file base_client.cpp.

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Member Function Documentation

void pr2_wrappers::BaseClient::applyTwist

(

const geometry_msgs::TwistStamped &

twist

)

Commands a straight-up movement command to the base.

Stores a new command to send to the base.

Definition at line 110 of file base_client.cpp.

void pr2_wrappers::BaseClient::cancelGoals

(

)

Deprecated...

Sends a "cancel all goals" request to the move_base server.

Tells the nav stack to STOP!

Definition at line 85 of file base_client.cpp.

void pr2_wrappers::BaseClient::clearLocalCostmap

(

)

Definition at line 155 of file base_client.cpp.

bool pr2_wrappers::BaseClient::hasGoal

(

)

Returns true if the nav stack is active.

Public method to check if the action server has a goal.

Definition at line 72 of file base_client.cpp.

void pr2_wrappers::BaseClient::moveBaseStatusCB

(

const actionlib_msgs::GoalStatusArrayConstPtr &

array

)

[private]

Callback for receiving status of move base client.

Callback for receiving status of move_base_client.

Definition at line 92 of file base_client.cpp.

void pr2_wrappers::BaseClient::publishTwist

(

const ros::TimerEvent &

e

)

[private]

Publish last stored twist message at each timer interval; has a (very CRITICAL) time-out for safety.

Publishes the most recent twist message to the base controller.

Definition at line 117 of file base_client.cpp.

void pr2_wrappers::BaseClient::sendNavGoal

(

const geometry_msgs::PoseStamped &

ps

)

Definition at line 143 of file base_client.cpp.

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Member Data Documentation

geometry_msgs::TwistStamped pr2_wrappers::BaseClient::base_cmd_ [private]

Definition at line 76 of file base_client.h.

ros::Publisher pr2_wrappers::BaseClient::cmd_vel_pub_ [private]

Publisher handle; default topic will be "cmd_vel".

Definition at line 57 of file base_client.h.

bool pr2_wrappers::BaseClient::delete_tfl_ [private]

A flag to determine whether to delete the TF listener on destruction.

Definition at line 63 of file base_client.h.

btVector3 pr2_wrappers::BaseClient::last_angular_ [private]

Definition at line 78 of file base_client.h.

btVector3 pr2_wrappers::BaseClient::last_linear_ [private]

Definition at line 77 of file base_client.h.

object_manipulator::ServiceWrapper<std_srvs::Empty> pr2_wrappers::BaseClient::local_costmap_reset_srv_ [private]

Definition at line 85 of file base_client.h.

bool pr2_wrappers::BaseClient::move_base_active_ [private]

A bool representing if the move_base action server is active.

Definition at line 73 of file base_client.h.

object_manipulator::ActionWrapper<move_base_msgs::MoveBaseAction> pr2_wrappers::BaseClient::move_base_client_ [private]

A actionlib client to the move_base action server.

Definition at line 69 of file base_client.h.

ros::NodeHandle pr2_wrappers::BaseClient::nh_ [private]

The node handle we'll be using.

Definition at line 54 of file base_client.h.

ros::Timer pr2_wrappers::BaseClient::publish_timer_ [private]

Definition at line 82 of file base_client.h.

ros::Subscriber pr2_wrappers::BaseClient::sub_nav_status_ [private]

A subscriber for listening to the status of the nav stack.

Definition at line 66 of file base_client.h.

tf::TransformListener* pr2_wrappers::BaseClient::tfl_ [private]

TF listener pointer; a new one only gets created if one is not passed in on construction.

Definition at line 60 of file base_client.h.

ros::Duration pr2_wrappers::BaseClient::timeout_ [private]

Definition at line 80 of file base_client.h.

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

• base_client.h
• base_client.cpp