Public Member Functions
bool	getRobotPose (tf::StampedTransform &globalToBase, const std::string &global_frame_id)
void	goalActionCB (const move_base_msgs::MoveBaseGoalConstPtr &goal)
void	goalCB (const geometry_msgs::PoseStampedConstPtr &goal)
void	pathActionCB (const nao_msgs::FollowPathGoalConstPtr &goal)
void	pathCB (const nav_msgs::PathConstPtr &goal)
	PathFollower ()
	~PathFollower ()
Private Member Functions
void	footContactCallback (const std_msgs::BoolConstPtr &contact)
bool	getNextTarget (const nav_msgs::Path &path, const tf::Pose &robotPose, const std::vector< geometry_msgs::PoseStamped >::const_iterator &currentPathPoseIt, tf::Stamped< tf::Transform > &targetPose, std::vector< geometry_msgs::PoseStamped >::const_iterator &targetPathPoseIt)
void	publishTargetPoseVis (const tf::Stamped< tf::Pose > &targetPose)
	Publishes the target pose as a geometry_msgs/Pose for visualization.
void	setVelocity (const tf::Transform &relTarget)
	Velocity controller.
void	stopWalk ()
	Stop walk and uninhibit joystick.
Private Attributes
ros::Publisher	m_actionGoalPub
ros::Publisher	m_actionPathPub
std::string	m_baseFrameId
	Base frame of the robot.
double	m_controllerFreq
	Desired frequency for controller loop.
bool	m_footContact
	True = robot currently has foot contact with the ground.
ros::Subscriber	m_footContactSub
ros::ServiceClient	m_inhibitWalkClient
bool	m_isJoystickInhibited
	True = joystick walk commands are inhibited.
const double	m_maxStepFreq
	Maximum step frequency (2.38 Hz according to Nao documentation).
double	m_maxVelFractionX
	Maximum fraction of forward velocity for velocity controller, between 0.0 and 1.0.
double	m_maxVelFractionY
	Maximum fraction of sideways velocity for velocity controller, between 0.0 and 1.0.
double	m_maxVelFractionYaw
	Maximum fraction of rotational velocity for velocity controller, between 0.0 and 1.0.
const double	m_maxVelXY
	Maximum translational velocity (0.0952 m/s according to Nao documentation).
const double	m_maxVelYaw
	Maximum rotational velocity (47.6 deg/s according to Nao documentation).
const double	m_minStepFreq
	Minimum step frequency (1.67 Hz according to Nao documentation).
double	m_pathNextTargetDistance
	Cumulative Distance to next Velocity Target from current robot pose along path.
ros::Subscriber	m_simpleGoalSub
ros::Subscriber	m_simplePathSub
double	m_stepFactor
	Fraction of the maximum step frequency.
double	m_stepFreq
	Step frequency (should be set to the same value as in nao_walker).
double	m_targetAngThres
	Maximum angular deviation from target orientation.
double	m_targetDistThres
	Maximum linear deviation from target point.
ros::Publisher	m_targetPub
tf::TransformListener	m_tfListener
double	m_thresholdDampXY
	Slow down when distance to goal is smaller than this value [in meters].
double	m_thresholdDampYaw
	Slow down rotation when angular deviation from goal pose is smaller than this value [in radians].
double	m_thresholdFar
double	m_thresholdRotate
ros::ServiceClient	m_uninhibitWalkClient
bool	m_useFootContactProtection
	True = abort walk when robot is lifted off the ground.
bool	m_useVelocityController
	True = use simple velocity controller, false = use Aldebaran's walkTo controller.
ros::Publisher	m_velPub
ros::Publisher	m_visPub
actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	m_walkGoalServer
actionlib::SimpleActionServer < nao_msgs::FollowPathAction >	m_walkPathServer
ros::NodeHandle	nh
ros::NodeHandle	privateNh

Detailed Description

Definition at line 50 of file nao_path_follower.cpp.

Constructor & Destructor Documentation

PathFollower::PathFollower ( )

Definition at line 105 of file nao_path_follower.cpp.

PathFollower::~PathFollower ( )

Definition at line 175 of file nao_path_follower.cpp.

Member Function Documentation

void PathFollower::footContactCallback ( const std_msgs::BoolConstPtr & contact ) [private]

Definition at line 210 of file nao_path_follower.cpp.

bool PathFollower::getNextTarget	(	const nav_msgs::Path &	path,
		const tf::Pose &	robotPose,
		const std::vector< geometry_msgs::PoseStamped >::const_iterator &	currentPathPoseIt,
		tf::Stamped< tf::Transform > &	targetPose,
		std::vector< geometry_msgs::PoseStamped >::const_iterator &	targetPathPoseIt
	)		`[private]`

Definition at line 311 of file nao_path_follower.cpp.

bool PathFollower::getRobotPose	(	tf::StampedTransform &	globalToBase,
		const std::string &	global_frame_id
	)

Definition at line 227 of file nao_path_follower.cpp.

void PathFollower::goalActionCB ( const move_base_msgs::MoveBaseGoalConstPtr & goal )

Definition at line 687 of file nao_path_follower.cpp.

void PathFollower::goalCB ( const geometry_msgs::PoseStampedConstPtr & goal )

Definition at line 193 of file nao_path_follower.cpp.

void PathFollower::pathActionCB ( const nao_msgs::FollowPathGoalConstPtr & goal )

Definition at line 450 of file nao_path_follower.cpp.

void PathFollower::pathCB ( const nav_msgs::PathConstPtr & goal )

Definition at line 201 of file nao_path_follower.cpp.

void PathFollower::publishTargetPoseVis ( const tf::Stamped< tf::Pose > & targetPose ) [private]

Publishes the target pose as a geometry_msgs/Pose for visualization.

Parameters:

targetPose Target pose to publish.

Definition at line 187 of file nao_path_follower.cpp.

void PathFollower::setVelocity ( const tf::Transform & relTarget ) [private]

Velocity controller.

Parameters:

relTarget Target pose relative to the current robot pose.

Strategy:

distance            | angle               | strategy
-----------------------------------------------------------------
> m_thresholdFar    | > m_thresholdRotate | rotate on the spot towards the target
> m_thresholdFar    | < m_thresholdRotate | walk towards the target, orient towards the target
> m_targetDistThres |                     | walk towards the target, orient towards final yaw angle
< m_targetDistThres | > m_targetAngThres  | rotate on the spot towards final yaw angle
< m_targetDistThres | < m_targetAngThres  | stop

Definition at line 862 of file nao_path_follower.cpp.

void PathFollower::stopWalk ( ) [private]

Stop walk and uninhibit joystick.

Definition at line 813 of file nao_path_follower.cpp.