MultiRobotLocalBehaviorController.h

Go to the documentation of this file.

/* Copyright (c) 2017, TU Wien
  All rights reserved.

  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
      * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY TU Wien ''AS IS'' AND ANY
  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL TU Wien BE LIABLE FOR ANY
  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef TUW_MULTI_ROBOT_ROUTE_TO_PATH_H
#define TUW_MULTI_ROBOT_ROUTE_TO_PATH_H

// ROS
#include <ros/ros.h>
#include <nav_msgs/Path.h>
#include <nav_msgs/Odometry.h>
#include <tuw_multi_robot_msgs/Route.h>
#include <tuw_multi_robot_route_to_path/RobotRouteToPath.h>
#include <tuw_multi_robot_route_to_path/RobotStateObserver.h>

#include <memory>

namespace tuw_multi_robot_route_to_path
{
class MultiRobotLocalBehaviorController
{
  //special class-member functions.
public:
  MultiRobotLocalBehaviorController(ros::NodeHandle &n);

  //ROS:
  ros::NodeHandle n_;       
  ros::NodeHandle n_param_; 
  std::unique_ptr<ros::Rate> rate_;
  void publishRobotInfo();

private:
  void publishPath(std::vector<Eigen::Vector3d> _p, int _topic);

  std::vector<ros::Publisher> pubPath_;
  ros::Publisher pubRobotInfo_;
  std::vector<ros::Subscriber> subSegPath_;
  std::vector<ros::Subscriber> subOdometry_;

  // ROS Topic names
  std::string topic_path_;
  std::string topic_route_;
  std::string topic_odom_;
  std::string topic_robot_info_;
  std::string frame_map_;
  std::vector<std::string> robot_names_;
  std::vector<float> robot_radius_;
  std::vector<geometry_msgs::PoseWithCovariance> robot_pose_;
  float robotDefaultRadius_ = 0.6;

  void subOdomCb(const ros::MessageEvent<nav_msgs::Odometry const> &_event, int _topic);
  void subSegPathCb(const ros::MessageEvent<tuw_multi_robot_msgs::Route const> &_event, int _topic);
  int findRobotId(std::string _name);

  std::vector<RobotRouteToPath> converter_;
  std::vector<RobotStateObserver> observer_;
  int no_robots_;
  std::vector<int> robot_steps_;
};

} // namespace tuw_multi_robot_route_to_path

#endif