IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_guide_nav_alg_node.h>

Inheritance diagram for TibiDaboGuideNavAlgNode:

Public Member Functions
	TibiDaboGuideNavAlgNode (void)
	Constructor.
	~TibiDaboGuideNavAlgNode (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	hri_clientActive ()
void	hri_clientDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hri_clientFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hri_clientMakeActionRequest ()
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)
void	move_baseMakeActionRequest ()
void	move_guideGetFeedbackCallback (tibi_dabo_msgs::guideGoalFeedbackPtr &feedback)
void	move_guideGetResultCallback (tibi_dabo_msgs::guideGoalResultPtr &result)
bool	move_guideHasSucceedCallback (void)
bool	move_guideIsFinishedCallback (void)
void	move_guideStartCallback (const tibi_dabo_msgs::guideGoalGoalConstPtr &goal)
void	move_guideStopCallback (void)
void	peopleSet_callback (const iri_perception_msgs::peopleTrackingArray::ConstPtr &msg)
Private Attributes
ros::ServiceClient	change_speed_client_
iri_diff_local_planner::change_max_vel	change_speed_srv_
guiding_states	current_state
double	distanceThresholdFar
double	distanceThresholdNear
ros::ServiceClient	get_goal_client_
iri_goal_database::get_goal	get_goal_srv_
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_client_
bool	hri_client_done
tibi_dabo_msgs::sequenceGoal	hri_client_goal_
std::string	location_id
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
bool	move_base_done
move_base_msgs::MoveBaseGoal	move_base_goal_
IriActionServer < tibi_dabo_msgs::guideGoalAction >	move_guide_aserver_
bool	new_guide_request
CMutex	peopleSet_mutex_
ros::Subscriber	peopleSet_subscriber_
double	person_distance
bool	person_lost
geometry_msgs::PoseStamped	person_pose
std::string	robot_frame
std::string	robot_id
bool	success
int	target_id
tf::TransformListener	tf_listener_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 57 of file tibi_dabo_guide_nav_alg_node.h.

Constructor & Destructor Documentation

TibiDaboGuideNavAlgNode::TibiDaboGuideNavAlgNode ( void )

Constructor.

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

Definition at line 4 of file tibi_dabo_guide_nav_alg_node.cpp.

TibiDaboGuideNavAlgNode::~TibiDaboGuideNavAlgNode ( void )

Destructor.

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

Definition at line 51 of file tibi_dabo_guide_nav_alg_node.cpp.

Member Function Documentation

void TibiDaboGuideNavAlgNode::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< TibiDaboGuideNavAlgorithm >.

Definition at line 679 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::hri_clientActive ( ) [private]

Definition at line 516 of file tibi_dabo_guide_nav_alg_node.cpp.

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

Definition at line 505 of file tibi_dabo_guide_nav_alg_node.cpp.

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

Definition at line 521 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::hri_clientMakeActionRequest ( ) [private]

Definition at line 632 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::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< TibiDaboGuideNavAlgorithm >.

Definition at line 56 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::move_baseActive ( ) [private]

Definition at line 609 of file tibi_dabo_guide_nav_alg_node.cpp.

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

Definition at line 598 of file tibi_dabo_guide_nav_alg_node.cpp.

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

Definition at line 614 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::move_baseMakeActionRequest ( ) [private]

Definition at line 650 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::move_guideGetFeedbackCallback ( tibi_dabo_msgs::guideGoalFeedbackPtr & feedback ) [private]

Definition at line 590 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::move_guideGetResultCallback ( tibi_dabo_msgs::guideGoalResultPtr & result ) [private]

Definition at line 582 of file tibi_dabo_guide_nav_alg_node.cpp.

bool TibiDaboGuideNavAlgNode::move_guideHasSucceedCallback ( void ) [private]

Definition at line 570 of file tibi_dabo_guide_nav_alg_node.cpp.

bool TibiDaboGuideNavAlgNode::move_guideIsFinishedCallback ( void ) [private]

Definition at line 556 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::move_guideStartCallback ( const tibi_dabo_msgs::guideGoalGoalConstPtr & goal ) [private]

Definition at line 537 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::move_guideStopCallback ( void ) [private]

Definition at line 548 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::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< TibiDaboGuideNavAlgorithm >.

Definition at line 669 of file tibi_dabo_guide_nav_alg_node.cpp.

void TibiDaboGuideNavAlgNode::peopleSet_callback ( const iri_perception_msgs::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 412 of file tibi_dabo_guide_nav_alg_node.cpp.