#include <random_walker_controller.hpp>

Inheritance diagram for kobuki::RandomWalkerController:

Public Member Functions
bool	init ()

	RandomWalkerController (ros::NodeHandle &nh_priv, std::string &name)

void	spin ()
	Publishes velocity commands and triggers the LEDs. More...

	~RandomWalkerController ()

Public Member Functions inherited from yocs::Controller
	Controller ()

bool	disable ()

bool	enable ()

bool	getState ()

virtual	~Controller ()

Private Member Functions
void	bumperEventCB (const kobuki_msgs::BumperEventConstPtr msg)
	Trigger direction change and LED blink, when a bumper is pressed. More...

void	cliffEventCB (const kobuki_msgs::CliffEventConstPtr msg)
	Trigger direction change and LED blink, when a cliff is detected. More...

void	disableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for disabling the controller. More...

void	enableCB (const std_msgs::EmptyConstPtr msg)
	ROS logging output for enabling the controller. More...

void	wheelDropEventCB (const kobuki_msgs::WheelDropEventConstPtr msg)
	Trigger stopping and LED blink, when a wheel drop is detected. More...

Private Attributes
bool	bumper_center_pressed_
	Flag for center bumper's state. More...

ros::Subscriber	bumper_event_subscriber_
	Subscribers. More...

bool	bumper_left_pressed_
	Flag for left bumper's state. More...

bool	bumper_right_pressed_
	Flag for right bumper's state. More...

bool	change_direction_
	Flag for changing direction. More...

bool	cliff_center_detected_
	Flag for center cliff sensor's state. More...

ros::Subscriber	cliff_event_subscriber_

bool	cliff_left_detected_
	Flag for left cliff sensor's state. More...

bool	cliff_right_detected_
	Flag for right cliff sensor's state. More...

ros::Publisher	cmd_vel_publisher_
	Publishers. More...

ros::Subscriber	disable_controller_subscriber_

ros::Subscriber	enable_controller_subscriber_
	Subscribers. More...

ros::Publisher	led1_publisher_

ros::Publisher	led2_publisher_

bool	led_bumper_on_
	Flag for bumper LED's state. More...

bool	led_cliff_on_
	Flag for cliff sensor LED's state. More...

bool	led_wheel_drop_on_
	Flag for wheel drop sensor LED's state. More...

std::string	name_
	Node(let) name. More...

ros::NodeHandle	nh_priv_
	Private ROS handle. More...

bool	stop_
	Flag for stopping. More...

bool	turning_
	Flag for turning state. More...

int	turning_direction_
	Randomly chosen turning direction. More...

ros::Duration	turning_duration_
	Randomly chosen turning duration. More...

ros::Time	turning_start_
	Start time of turning. More...

double	vel_ang_
	Angular velocity for rotating. More...

double	vel_lin_
	Linear velocity for moving straight. More...

ros::Subscriber	wheel_drop_event_subscriber_

bool	wheel_drop_left_detected_
	Flag for left wheel drop sensor's state. More...

bool	wheel_drop_right_detected_
	Flag for right wheel drop sensor's state. More...

Detailed Description

@ brief A controller implementing a simple random walker algorithm

Controller moves the robot around, changing direction whenever a bumper or cliff event occurs For changing direction random angles are used.

Definition at line 42 of file random_walker_controller.hpp.

Constructor & Destructor Documentation

kobuki::RandomWalkerController::RandomWalkerController	(	ros::NodeHandle &	nh_priv,
		std::string &	name
	)

inline

Definition at line 45 of file random_walker_controller.hpp.

kobuki::RandomWalkerController::~RandomWalkerController ( )

inline

Definition at line 62 of file random_walker_controller.hpp.

Member Function Documentation

void kobuki::RandomWalkerController::bumperEventCB ( const kobuki_msgs::BumperEventConstPtr msg )

private

Trigger direction change and LED blink, when a bumper is pressed.

Parameters

msg	bumper event

Definition at line 202 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::cliffEventCB ( const kobuki_msgs::CliffEventConstPtr msg )

private

Trigger direction change and LED blink, when a cliff is detected.

Parameters

msg	cliff event

Definition at line 265 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::disableCB ( const std_msgs::EmptyConstPtr msg )

private

ROS logging output for disabling the controller.

Parameters

msg	incoming topic message

Definition at line 190 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::enableCB ( const std_msgs::EmptyConstPtr msg )

private

ROS logging output for enabling the controller.

Parameters

msg	incoming topic message

Definition at line 178 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::init ( )

inlinevirtual

Set-up necessary publishers/subscribers and initialise time

Returns: true, if successful

Implements yocs::Controller.

Definition at line 68 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::spin ( )

virtual

Publishes velocity commands and triggers the LEDs.

Reimplemented from yocs::Controller.

Definition at line 379 of file random_walker_controller.hpp.

void kobuki::RandomWalkerController::wheelDropEventCB ( const kobuki_msgs::WheelDropEventConstPtr msg )

private

Trigger stopping and LED blink, when a wheel drop is detected.

Parameters

msg	wheel drop event

Definition at line 325 of file random_walker_controller.hpp.

Member Data Documentation

bool kobuki::RandomWalkerController::bumper_center_pressed_

private

Flag for center bumper's state.

Definition at line 115 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::bumper_event_subscriber_

private

Subscribers.

Definition at line 105 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::bumper_left_pressed_

private

Flag for left bumper's state.

Definition at line 113 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::bumper_right_pressed_

private

Flag for right bumper's state.

Definition at line 117 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::change_direction_

private

Flag for changing direction.

Definition at line 109 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::cliff_center_detected_

private

Flag for center cliff sensor's state.

Definition at line 121 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::cliff_event_subscriber_

private

Definition at line 105 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::cliff_left_detected_

private

Flag for left cliff sensor's state.

Definition at line 119 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::cliff_right_detected_

private

Flag for right cliff sensor's state.

Definition at line 123 of file random_walker_controller.hpp.

ros::Publisher kobuki::RandomWalkerController::cmd_vel_publisher_

private

Publishers.

Definition at line 107 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::disable_controller_subscriber_

private

Definition at line 103 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::enable_controller_subscriber_

private

Subscribers.

Definition at line 103 of file random_walker_controller.hpp.

ros::Publisher kobuki::RandomWalkerController::led1_publisher_

private

Definition at line 107 of file random_walker_controller.hpp.

ros::Publisher kobuki::RandomWalkerController::led2_publisher_

private

Definition at line 107 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::led_bumper_on_

private

Flag for bumper LED's state.

Definition at line 129 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::led_cliff_on_

private

Flag for cliff sensor LED's state.

Definition at line 131 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::led_wheel_drop_on_

private

Flag for wheel drop sensor LED's state.

Definition at line 133 of file random_walker_controller.hpp.

std::string kobuki::RandomWalkerController::name_

private

Node(let) name.

Definition at line 101 of file random_walker_controller.hpp.

ros::NodeHandle kobuki::RandomWalkerController::nh_priv_

private

Private ROS handle.

Definition at line 99 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::stop_

private

Flag for stopping.

Definition at line 111 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::turning_

private

Flag for turning state.

Definition at line 145 of file random_walker_controller.hpp.

int kobuki::RandomWalkerController::turning_direction_

private

Randomly chosen turning direction.

Definition at line 141 of file random_walker_controller.hpp.

ros::Duration kobuki::RandomWalkerController::turning_duration_

private

Randomly chosen turning duration.

Definition at line 139 of file random_walker_controller.hpp.

ros::Time kobuki::RandomWalkerController::turning_start_

private

Start time of turning.

Definition at line 143 of file random_walker_controller.hpp.

double kobuki::RandomWalkerController::vel_ang_

private

Angular velocity for rotating.

Definition at line 137 of file random_walker_controller.hpp.

double kobuki::RandomWalkerController::vel_lin_

private

Linear velocity for moving straight.

Definition at line 135 of file random_walker_controller.hpp.

ros::Subscriber kobuki::RandomWalkerController::wheel_drop_event_subscriber_

private

Definition at line 105 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::wheel_drop_left_detected_

private

Flag for left wheel drop sensor's state.

Definition at line 125 of file random_walker_controller.hpp.

bool kobuki::RandomWalkerController::wheel_drop_right_detected_

private

Flag for right wheel drop sensor's state.

Definition at line 127 of file random_walker_controller.hpp.

The documentation for this class was generated from the following file:

random_walker_controller.hpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation