A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...

#include <safe_trajectory_planner_ros.h>

Public Member Functions
bool	computeVelocityCommands (const geometry_msgs::Twist::ConstPtr &vel, geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
	SafeTrajectoryPlannerROS (TFListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
	~SafeTrajectoryPlannerROS ()
	Destructor for the wrapper.
Private Member Functions
void	cmdCallback (const geometry_msgs::Twist::ConstPtr &vel)
double	distance (double x1, double y1, double x2, double y2)
	Compute the distance between two points.
std::vector< double >	loadYVels (ros::NodeHandle node)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a)
	Publish a plan for visualization purposes.
bool	stopped ()
	Check whether the robot is stopped or not.
bool	transformGlobalPlan (std::vector< geometry_msgs::PoseStamped > &transformed_plan)
	Transforms the global plan of the robot from the planner frame to the local frame.
Private Attributes
nav_msgs::Odometry	base_odom_
	Used to get the velocity of the robot.
double	circumscribed_radius_
ros::Publisher	cmd_pub_
ros::Subscriber	cmd_sub_
costmap_2d::Costmap2D	costmap_
	The costmap the controller will use.
costmap_2d::Costmap2DROS *	costmap_ros_
	The ROS wrapper for the costmap the controller will use.
std::string	global_frame_
	The frame in which the controller will run.
double	inscribed_radius_
ros::Publisher	l_plan_pub_
double	max_sensor_range_
	Keep track of the effective maximum range of our sensors.
double	max_vel_th_
double	min_vel_th_
ros::NodeHandle	nh_
boost::recursive_mutex	odom_lock_
ros::Subscriber	odom_sub_
std::string	robot_base_frame_
	Used as the base frame id of the robot.
double	rot_stopped_velocity_
SafeTrajectoryPlanner *	tc_
	The trajectory controller.
TFListener *	tf_
	Used for transforming point clouds.
double	trans_stopped_velocity_
ros::Publisher	u_plan_pub_
ros::Subscriber	user_sub_
base_local_planner::WorldModel *	world_model_
	The world model that the controller will use.

Detailed Description

A ROS wrapper for the trajectory controller that queries the param server to construct a controller.

Definition at line 51 of file safe_trajectory_planner_ros.h.

Constructor & Destructor Documentation

safe_teleop::SafeTrajectoryPlannerROS::SafeTrajectoryPlannerROS	(	TFListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructs the ros wrapper.

Parameters:

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Definition at line 21 of file safe_trajectory_planner_ros.cpp.

safe_teleop::SafeTrajectoryPlannerROS::~SafeTrajectoryPlannerROS ( )

Destructor for the wrapper.

Definition at line 132 of file safe_trajectory_planner_ros.cpp.

Member Function Documentation

void safe_teleop::SafeTrajectoryPlannerROS::cmdCallback ( const geometry_msgs::Twist::ConstPtr & vel ) [private]

Definition at line 161 of file safe_trajectory_planner_ros.cpp.

bool safe_teleop::SafeTrajectoryPlannerROS::computeVelocityCommands	(	const geometry_msgs::Twist::ConstPtr &	vel,
		geometry_msgs::Twist &	cmd_vel
	)

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

vel	Velocity received from user
cmd_vel	Will be filled with the velocity command to be passed to the robot base

Returns:: True if a valid trajectory was found, false otherwise

Definition at line 184 of file safe_trajectory_planner_ros.cpp.

double safe_teleop::SafeTrajectoryPlannerROS::distance	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		`[private]`

Compute the distance between two points.

Parameters:

x1	The first x point
y1	The first y point
x2	The second x point
y2	The second y point

Definition at line 147 of file safe_trajectory_planner_ros.cpp.

std::vector< double > safe_teleop::SafeTrajectoryPlannerROS::loadYVels ( ros::NodeHandle node ) [private]

Definition at line 101 of file safe_trajectory_planner_ros.cpp.

void safe_teleop::SafeTrajectoryPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 151 of file safe_trajectory_planner_ros.cpp.

void safe_teleop::SafeTrajectoryPlannerROS::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const ros::Publisher &	pub,
		double	r,
		double	g,
		double	b,
		double	a
	)		`[private]`