IRI ROS Specific Algorithm Class. More...

#include <tibi_coop_alg_node.h>

Inheritance diagram for TibiCoopAlgNode:

Public Member Functions
	TibiCoopAlgNode (void)
	Constructor.
	~TibiCoopAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	car_tibi_actionGetFeedbackCallback (tibi_dabo_msgs::guiFeedbackPtr &feedback)
void	car_tibi_actionGetResultCallback (tibi_dabo_msgs::guiResultPtr &result)
bool	car_tibi_actionHasSucceedCallback (void)
bool	car_tibi_actionIsFinishedCallback (void)
void	car_tibi_actionStartCallback (const tibi_dabo_msgs::guiGoalConstPtr &goal)
void	car_tibi_actionStopCallback (void)
void	dabo_tibi_actionGetFeedbackCallback (tibi_dabo_msgs::guiFeedbackPtr &feedback)
void	dabo_tibi_actionGetResultCallback (tibi_dabo_msgs::guiResultPtr &result)
bool	dabo_tibi_actionHasSucceedCallback (void)
bool	dabo_tibi_actionIsFinishedCallback (void)
void	dabo_tibi_actionStartCallback (const tibi_dabo_msgs::guiGoalConstPtr &goal)
void	dabo_tibi_actionStopCallback (void)
void	gui_actionGetFeedbackCallback (tibi_dabo_msgs::guiFeedbackPtr &feedback)
void	gui_actionGetResultCallback (tibi_dabo_msgs::guiResultPtr &result)
bool	gui_actionHasSucceedCallback (void)
bool	gui_actionIsFinishedCallback (void)
void	gui_actionStartCallback (const tibi_dabo_msgs::guiGoalConstPtr &goal)
void	gui_actionStopCallback (void)
void	hri_clientActive ()
void	hri_clientDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hri_clientFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
bool	hri_clientMakeActionRequest ()
void	loadSentences ()
void	move_baseActive ()
void	move_baseDone (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	move_baseFeedback (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
bool	move_baseMakeActionRequest ()
void	move_guideActive ()
void	move_guideDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::guideGoalResultConstPtr &result)
void	move_guideFeedback (const tibi_dabo_msgs::guideGoalFeedbackConstPtr &feedback)
void	move_guideMakeActionRequest ()
void	supervisor_callback (const sensor_msgs::Joy::ConstPtr &msg)
void	tibi_car_actionActive ()
void	tibi_car_actionDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::guiResultConstPtr &result)
void	tibi_car_actionFeedback (const tibi_dabo_msgs::guiFeedbackConstPtr &feedback)
bool	tibi_car_actionMakeActionRequest ()
Private Attributes
tibi_cmds	car_cmd
IriActionServer < tibi_dabo_msgs::guiAction >	car_tibi_action_aserver_
tibi_states	current_state
tibi_cmds	dabo_cmd
std::string	dabo_location_id
IriActionServer < tibi_dabo_msgs::guiAction >	dabo_tibi_action_aserver_
ros::ServiceClient	get_goal_client_
iri_goal_database::get_goal	get_goal_srv_
IriActionServer < tibi_dabo_msgs::guiAction >	gui_action_aserver_
gui_cmds	gui_cmd
std::string	gui_location_id
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_client_
bool	hri_client_done
tibi_dabo_msgs::sequenceGoal	hri_client_goal_
joy_cmds	joy_cmd
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
bool	move_base_done
move_base_msgs::MoveBaseGoal	move_base_goal_
actionlib::SimpleActionClient < tibi_dabo_msgs::guideGoalAction >	move_guide_client_
bool	move_guide_done
tibi_dabo_msgs::guideGoalGoal	move_guide_goal_
bool	new_car_cmd
bool	new_dabo_cmd
bool	new_gui_cmd
bool	new_joy_cmd
std::vector< std::vector < std::string > >	sentences
CMutex	supervisor_mutex_
ros::Subscriber	supervisor_subscriber_
actionlib::SimpleActionClient < tibi_dabo_msgs::guiAction >	tibi_car_action_client_
bool	tibi_car_action_done
tibi_dabo_msgs::guiGoal	tibi_car_action_goal_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 63 of file tibi_coop_alg_node.h.

Constructor & Destructor Documentation

TibiCoopAlgNode::TibiCoopAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 4 of file tibi_coop_alg_node.cpp.

TibiCoopAlgNode::~TibiCoopAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 75 of file tibi_coop_alg_node.cpp.

Member Function Documentation

void TibiCoopAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< TibiCoopAlgorithm >.

Definition at line 938 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::car_tibi_actionGetFeedbackCallback ( tibi_dabo_msgs::guiFeedbackPtr & feedback ) [private]

Definition at line 548 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::car_tibi_actionGetResultCallback ( tibi_dabo_msgs::guiResultPtr & result ) [private]

Definition at line 540 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::car_tibi_actionHasSucceedCallback ( void ) [private]

Definition at line 528 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::car_tibi_actionIsFinishedCallback ( void ) [private]

Definition at line 512 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::car_tibi_actionStartCallback ( const tibi_dabo_msgs::guiGoalConstPtr & goal ) [private]

Definition at line 486 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::car_tibi_actionStopCallback ( void ) [private]

Definition at line 505 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::dabo_tibi_actionGetFeedbackCallback ( tibi_dabo_msgs::guiFeedbackPtr & feedback ) [private]

Definition at line 626 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::dabo_tibi_actionGetResultCallback ( tibi_dabo_msgs::guiResultPtr & result ) [private]

Definition at line 618 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::dabo_tibi_actionHasSucceedCallback ( void ) [private]

Definition at line 606 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::dabo_tibi_actionIsFinishedCallback ( void ) [private]

Definition at line 590 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::dabo_tibi_actionStartCallback ( const tibi_dabo_msgs::guiGoalConstPtr & goal ) [private]

Definition at line 555 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::dabo_tibi_actionStopCallback ( void ) [private]

Definition at line 581 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::gui_actionGetFeedbackCallback ( tibi_dabo_msgs::guiFeedbackPtr & feedback ) [private]

Definition at line 738 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::gui_actionGetResultCallback ( tibi_dabo_msgs::guiResultPtr & result ) [private]

Definition at line 730 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::gui_actionHasSucceedCallback ( void ) [private]

Definition at line 717 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::gui_actionIsFinishedCallback ( void ) [private]

Definition at line 701 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::gui_actionStartCallback ( const tibi_dabo_msgs::guiGoalConstPtr & goal ) [private]

Definition at line 667 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::gui_actionStopCallback ( void ) [private]

Definition at line 692 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::hri_clientActive ( ) [private]

Definition at line 793 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::hri_clientDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 780 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::hri_clientFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 798 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::hri_clientMakeActionRequest ( ) [private]

Definition at line 878 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::loadSentences ( ) [private]

Definition at line 901 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< TibiCoopAlgorithm >.

Definition at line 80 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_baseActive ( ) [private]

Definition at line 758 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_baseDone	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 746 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_baseFeedback ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 763 of file tibi_coop_alg_node.cpp.

bool TibiCoopAlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 856 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_guideActive ( ) [private]

Definition at line 465 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_guideDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::guideGoalResultConstPtr &	result
	)		`[private]`

Definition at line 454 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_guideFeedback ( const tibi_dabo_msgs::guideGoalFeedbackConstPtr & feedback ) [private]

Definition at line 470 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::move_guideMakeActionRequest ( ) [private]

Definition at line 816 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< TibiCoopAlgorithm >.

Definition at line 931 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::supervisor_callback ( const sensor_msgs::Joy::ConstPtr & msg ) [private]

Definition at line 418 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::tibi_car_actionActive ( ) [private]

Definition at line 646 of file tibi_coop_alg_node.cpp.

void TibiCoopAlgNode::tibi_car_actionDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::guiResultConstPtr &	result
	)		`[private]`