traxbot_stageMultipleRobots.cpp File Reference

#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <unistd.h>
#include <ros/ros.h>
#include <ros/time.h>
#include <std_msgs/String.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Empty.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/LaserScan.h>

Include dependency graph for traxbot_stageMultipleRobots.cpp:

Go to the source code of this file.

Defines
#define	maxRange   1.5
#define	moveSpeed   0.3
#define	navigation   REACTIVE
#define	PI   3.14159265
#define	reactiveRange   0.5
#define	rotateSpeed   0.4
#define	sonarSamples   1
Functions
void	goTo (float xIni, float yIni, float teta, float xFinal, float yFinal, float tetaFinal)
int	main (int argc, char **argv)
float	minValue (int ini_idx, int final_idx, float tab[], float maxValue)
void	move (float distance, float speed)
void	odom_readCB (const nav_msgs::Odometry::ConstPtr &odom)
double	quaternion2degrees (double angle, double polarization)
void	reactiveNavigation ()
void	rotate (float angle_deg, float speed)
void	sonars_readCB (const sensor_msgs::LaserScan::ConstPtr &range)
Variables
float	centerSonar
ros::Publisher	cmd_velocidade
float	leftSonar
ros::Subscriber	odm_stage
float	rightSonar
sensor_msgs::LaserScan	sonarsRange
ros::Subscriber	sonarsRange_stage
double	theta = 0
float	theta_goTo = 0
double	thetaPol = 0
float	x = 0
float	x_goTo = 0
float	y = 0
float	y_goTo = 0

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Define Documentation

#define maxRange   1.5

Definition at line 67 of file traxbot_stageMultipleRobots.cpp.

#define moveSpeed   0.3

Definition at line 69 of file traxbot_stageMultipleRobots.cpp.

#define navigation   REACTIVE

Definition at line 72 of file traxbot_stageMultipleRobots.cpp.

#define PI   3.14159265

Definition at line 64 of file traxbot_stageMultipleRobots.cpp.

#define reactiveRange   0.5

Definition at line 70 of file traxbot_stageMultipleRobots.cpp.

#define rotateSpeed   0.4

Definition at line 68 of file traxbot_stageMultipleRobots.cpp.

#define sonarSamples   1

Definition at line 66 of file traxbot_stageMultipleRobots.cpp.

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Function Documentation

void goTo	(	float	xIni,
		float	yIni,
		float	teta,
		float	xFinal,
		float	yFinal,
		float	tetaFinal
	)

Definition at line 359 of file traxbot_stageMultipleRobots.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 407 of file traxbot_stageMultipleRobots.cpp.

float minValue	(	int	ini_idx,
		int	final_idx,
		float	tab[],
		float	maxValue
	)

Definition at line 107 of file traxbot_stageMultipleRobots.cpp.

void move	(	float	distance,
		float	speed
	)

Definition at line 161 of file traxbot_stageMultipleRobots.cpp.

void odom_readCB

(

const nav_msgs::Odometry::ConstPtr &

odom

)

Definition at line 94 of file traxbot_stageMultipleRobots.cpp.

double quaternion2degrees	(	double	angle,
		double	polarization
	)

Definition at line 141 of file traxbot_stageMultipleRobots.cpp.

void reactiveNavigation

(

)

Definition at line 306 of file traxbot_stageMultipleRobots.cpp.

void rotate	(	float	angle_deg,
		float	speed
	)

Definition at line 198 of file traxbot_stageMultipleRobots.cpp.

void sonars_readCB

(

const sensor_msgs::LaserScan::ConstPtr &

range

)

Definition at line 124 of file traxbot_stageMultipleRobots.cpp.

---

Variable Documentation

float centerSonar

Definition at line 84 of file traxbot_stageMultipleRobots.cpp.

ros::Publisher cmd_velocidade

Definition at line 74 of file traxbot_stageMultipleRobots.cpp.

float leftSonar

Definition at line 84 of file traxbot_stageMultipleRobots.cpp.

ros::Subscriber odm_stage

Definition at line 76 of file traxbot_stageMultipleRobots.cpp.

float rightSonar

Definition at line 84 of file traxbot_stageMultipleRobots.cpp.

sensor_msgs::LaserScan sonarsRange

Definition at line 80 of file traxbot_stageMultipleRobots.cpp.

ros::Subscriber sonarsRange_stage

Definition at line 77 of file traxbot_stageMultipleRobots.cpp.

double theta = 0

Definition at line 86 of file traxbot_stageMultipleRobots.cpp.

float theta_goTo = 0

Definition at line 90 of file traxbot_stageMultipleRobots.cpp.

double thetaPol = 0

Definition at line 87 of file traxbot_stageMultipleRobots.cpp.

float x = 0

Definition at line 85 of file traxbot_stageMultipleRobots.cpp.

float x_goTo = 0

Definition at line 90 of file traxbot_stageMultipleRobots.cpp.

float y = 0

Definition at line 85 of file traxbot_stageMultipleRobots.cpp.

float y_goTo = 0

Definition at line 90 of file traxbot_stageMultipleRobots.cpp.