State being active when the robot should move to a previously set goal. First obtains the goal and then tries to reach it using the Move Base package. State is exited when the goal was reached, aborted or an interrupt occured. More...

#include <NavigationState.h>

Inheritance diagram for rsm::NavigationState:

[legend]

Public Member Functions
	NavigationState ()

void	onActive ()

void	onEntry ()

void	onExit ()

void	onExplorationStart (bool &success, std::string &message)

void	onExplorationStop (bool &success, std::string &message)

void	onInterrupt (int interrupt)
	Called when an operation mode interrupt was received. More...

void	onSetup ()

void	onWaypointFollowingStart (bool &success, std::string &message)

void	onWaypointFollowingStop (bool &success, std::string &message)

	~NavigationState ()

Public Member Functions inherited from rsm::BaseState
	BaseState ()

std::string	getName ()

StateInterface *	getStateInterface ()

void	setStateInterface (StateInterface *stateinterface)

virtual	~BaseState ()

Private Types
typedef actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction >	MoveBaseClient

Private Member Functions
void	abortNavigation ()

bool	comparePose ()

void	goalObsoleteCallback (const std_msgs::Bool::ConstPtr &msg)

void	idleTimerCallback (const ros::TimerEvent &event)
	Callback for idle timer. More...

void	operationModeCallback (const rsm_msgs::OperationMode::ConstPtr &operation_mode)

void	reverseModeCallback (const std_msgs::Bool::ConstPtr &reverse_mode)

void	unstuckTimerCallback (const ros::TimerEvent &event)
	Callback for switched mode navigation to unstuck robot. More...

Private Attributes
bool	_exploration_mode

ros::ServiceClient	_get_exploration_mode_service

ros::Subscriber	_get_goal_obsolete_subscriber

ros::ServiceClient	_get_navigation_goal_service

ros::ServiceClient	_get_reverse_mode_service

ros::ServiceClient	_get_robot_pose_service

bool	_goal_active

ros::Timer	_idle_timer

bool	_idle_timer_behavior

double	_idle_timer_duration

tf::Vector3	_last_position

double	_last_yaw

boost::shared_ptr< MoveBaseClient >	_move_base_client

geometry_msgs::Pose	_nav_goal

int	_navigation_completed_status

ros::ServiceClient	_navigation_goal_completed_service

int	_navigation_mode

ros::NodeHandle	_nh

int	_operation_mode

ros::Subscriber	_operation_mode_subscriber

double	_pose_tolerance

bool	_reverse_mode

ros::Subscriber	_reverse_mode_subscriber

bool	_robot_did_move

std::string	_routine

ros::Timer	_unstuck_timer

double	_unstuck_timer_duration

bool	_unstucking_executed

bool	_unstucking_robot

Additional Inherited Members
Protected Attributes inherited from rsm::BaseState
bool	_interrupt_occured

std::string	_name

StateInterface *	_stateinterface

Detailed Description

State being active when the robot should move to a previously set goal. First obtains the goal and then tries to reach it using the Move Base package. State is exited when the goal was reached, aborted or an interrupt occured.

Definition at line 28 of file NavigationState.h.

Member Typedef Documentation

◆ MoveBaseClient

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> rsm::NavigationState::MoveBaseClient

private

Definition at line 90 of file NavigationState.h.

Constructor & Destructor Documentation

◆ NavigationState()

rsm::NavigationState::NavigationState ( )

Constructor

Definition at line 5 of file NavigationState.cpp.

◆ ~NavigationState()

rsm::NavigationState::~NavigationState ( )

Destructor

Definition at line 8 of file NavigationState.cpp.

Member Function Documentation

◆ abortNavigation()

void rsm::NavigationState::abortNavigation ( )

private

Initiate transition to Idle State

Definition at line 467 of file NavigationState.cpp.

◆ comparePose()

bool rsm::NavigationState::comparePose ( )

private

Check if the robot's pose changed since the start of navigation or since the last comparison

Returns: True if the robot's pose changed or the operation mode is not autonomous

Definition at line 405 of file NavigationState.cpp.

◆ goalObsoleteCallback()

void rsm::NavigationState::goalObsoleteCallback ( const std_msgs::Bool::ConstPtr & msg )

private

Callback for checking if the current exploration goal is still viable or already obsolete, only checked for exploration mode 'interrupting"

Parameters

msg	Is goal obsolete or not

Definition at line 434 of file NavigationState.cpp.

◆ idleTimerCallback()

void rsm::NavigationState::idleTimerCallback ( const ros::TimerEvent & event )

private

Callback for idle timer.

Parameters

event

Definition at line 342 of file NavigationState.cpp.

◆ onActive()

void rsm::NavigationState::onActive ( )

virtual

Process method (step-wise, never block this method)

Implements rsm::BaseState.

Definition at line 113 of file NavigationState.cpp.

◆ onEntry()

void rsm::NavigationState::onEntry ( )

virtual

Called once when activated

Reimplemented from rsm::BaseState.

Definition at line 57 of file NavigationState.cpp.

◆ onExit()

void rsm::NavigationState::onExit ( )

virtual

Called once when left

Reimplemented from rsm::BaseState.

Definition at line 216 of file NavigationState.cpp.

◆ onExplorationStart()

void rsm::NavigationState::onExplorationStart	(	bool &	success,
		std::string &	message
	)

virtual

Called when exploration was started manually

Reimplemented from rsm::BaseState.

Definition at line 230 of file NavigationState.cpp.

◆ onExplorationStop()

void rsm::NavigationState::onExplorationStop	(	bool &	success,
		std::string &	message
	)

virtual

Called when exploration was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 251 of file NavigationState.cpp.

◆ onInterrupt()

void rsm::NavigationState::onInterrupt ( int interrupt )

virtual

Called when an operation mode interrupt was received.

Parameters

interrupt Kind of interrupt (0=EmergencyStop, 1=TeleoperationInterupt)

Reimplemented from rsm::BaseState.

Definition at line 315 of file NavigationState.cpp.

◆ onSetup()

void rsm::NavigationState::onSetup ( )

virtual

Called once when registered at StateInterface

Reimplemented from rsm::BaseState.

Definition at line 11 of file NavigationState.cpp.

◆ onWaypointFollowingStart()

void rsm::NavigationState::onWaypointFollowingStart	(	bool &	success,
		std::string &	message
	)

virtual

Called when waypoint following was started/paused manually

Reimplemented from rsm::BaseState.

Definition at line 273 of file NavigationState.cpp.

◆ onWaypointFollowingStop()

void rsm::NavigationState::onWaypointFollowingStop	(	bool &	success,
		std::string &	message
	)

virtual

Called when waypoint following was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 292 of file NavigationState.cpp.

◆ operationModeCallback()

void rsm::NavigationState::operationModeCallback ( const rsm_msgs::OperationMode::ConstPtr & operation_mode )

private

Callback for Operation mode to only enable the idle timer when operation mode is set to autonomous

Parameters

operation_mode Mode of operation (0=stopped, 1=autonomous, 2=teleoperation)

Definition at line 462 of file NavigationState.cpp.

◆ reverseModeCallback()

void rsm::NavigationState::reverseModeCallback ( const std_msgs::Bool::ConstPtr & reverse_mode )

private

Callback for checking if reverse mode changed and if it did, reset SimpleActionClient to interface the Move Base node for reverse movement

Parameters

reverse_mode Is reverse mode active or not

Definition at line 445 of file NavigationState.cpp.

◆ unstuckTimerCallback()

void rsm::NavigationState::unstuckTimerCallback ( const ros::TimerEvent & event )

private

Callback for switched mode navigation to unstuck robot.

Parameters

event

Definition at line 391 of file NavigationState.cpp.

Member Data Documentation

◆ _exploration_mode

bool rsm::NavigationState::_exploration_mode

private

Mode of exploration (0=complete goal, 1=interrupt goal when frontier vanished)

Definition at line 132 of file NavigationState.h.

◆ _get_exploration_mode_service

ros::ServiceClient rsm::NavigationState::_get_exploration_mode_service

private

Definition at line 97 of file NavigationState.h.

◆ _get_goal_obsolete_subscriber

ros::Subscriber rsm::NavigationState::_get_goal_obsolete_subscriber

private

Definition at line 99 of file NavigationState.h.

◆ _get_navigation_goal_service

ros::ServiceClient rsm::NavigationState::_get_navigation_goal_service

private

Definition at line 94 of file NavigationState.h.

◆ _get_reverse_mode_service

ros::ServiceClient rsm::NavigationState::_get_reverse_mode_service

private

Definition at line 98 of file NavigationState.h.

◆ _get_robot_pose_service

ros::ServiceClient rsm::NavigationState::_get_robot_pose_service

private

Definition at line 96 of file NavigationState.h.

◆ _goal_active

bool rsm::NavigationState::_goal_active

private

Is goal currently active or does it need to be set first

Definition at line 112 of file NavigationState.h.

◆ _idle_timer

ros::Timer rsm::NavigationState::_idle_timer

private

Definition at line 102 of file NavigationState.h.

◆ _idle_timer_behavior

bool rsm::NavigationState::_idle_timer_behavior

private

If the idle timer when called should end exploration/waypoint following or just declare goal as failed (true=end,false=fail)

Definition at line 172 of file NavigationState.h.

◆ _idle_timer_duration

double rsm::NavigationState::_idle_timer_duration

private

Time in s that the robot can remain stationary before navigation counts as aborted because the robot is stuck

Definition at line 156 of file NavigationState.h.

◆ _last_position

tf::Vector3 rsm::NavigationState::_last_position

private

Last position of the robot

Definition at line 124 of file NavigationState.h.

◆ _last_yaw

double rsm::NavigationState::_last_yaw

private

Last yaw orientation of the robot

Definition at line 128 of file NavigationState.h.

◆ _move_base_client

boost::shared_ptr<MoveBaseClient> rsm::NavigationState::_move_base_client

private

Definition at line 91 of file NavigationState.h.

◆ _nav_goal

geometry_msgs::Pose rsm::NavigationState::_nav_goal

private

Navigation goal to reach

Definition at line 108 of file NavigationState.h.

◆ _navigation_completed_status

int rsm::NavigationState::_navigation_completed_status

private

Was the navigation goal successfully reached or not or aborted

Definition at line 144 of file NavigationState.h.

◆ _navigation_goal_completed_service

ros::ServiceClient rsm::NavigationState::_navigation_goal_completed_service

private

Definition at line 95 of file NavigationState.h.

◆ _navigation_mode

int rsm::NavigationState::_navigation_mode

private

Mode of navigation (Exploration=0, Waypoint following=1 and Simple Goal=2)

Definition at line 116 of file NavigationState.h.

◆ _nh

ros::NodeHandle rsm::NavigationState::_nh

private

Definition at line 93 of file NavigationState.h.

◆ _operation_mode

int rsm::NavigationState::_operation_mode

private

Currently active mode of operation (0=stopped, 1=autonomous, 2=teleoperation)

Definition at line 140 of file NavigationState.h.

◆ _operation_mode_subscriber

ros::Subscriber rsm::NavigationState::_operation_mode_subscriber

private

Definition at line 101 of file NavigationState.h.

◆ _pose_tolerance

double rsm::NavigationState::_pose_tolerance

private

Tolerance in m or rad that, if the robot's pose difference is below, still make the robot count as stationary

Definition at line 152 of file NavigationState.h.

◆ _reverse_mode

bool rsm::NavigationState::_reverse_mode

private

Is robot driving in reverse or not

Definition at line 136 of file NavigationState.h.

◆ _reverse_mode_subscriber

ros::Subscriber rsm::NavigationState::_reverse_mode_subscriber

private

Definition at line 100 of file NavigationState.h.

◆ _robot_did_move

bool rsm::NavigationState::_robot_did_move

private

Did the robot move at all while this state was active

Definition at line 148 of file NavigationState.h.

◆ _routine

std::string rsm::NavigationState::_routine

private

Routine to be executed when reaching waypoint

Definition at line 120 of file NavigationState.h.

◆ _unstuck_timer

ros::Timer rsm::NavigationState::_unstuck_timer

private

Definition at line 103 of file NavigationState.h.

◆ _unstuck_timer_duration

double rsm::NavigationState::_unstuck_timer_duration

private

Time that navigation can try to unstuck the robot with switched mode

Definition at line 160 of file NavigationState.h.

◆ _unstucking_executed

bool rsm::NavigationState::_unstucking_executed

private

Was the mode switch already tried for this goal

Definition at line 168 of file NavigationState.h.

◆ _unstucking_robot

bool rsm::NavigationState::_unstucking_robot

private

Is switched mode used at the moment to unstuck robot

Definition at line 164 of file NavigationState.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MoveBaseClient

Constructor & Destructor Documentation

◆ NavigationState()

◆ ~NavigationState()

Member Function Documentation

◆ abortNavigation()

◆ comparePose()

◆ goalObsoleteCallback()

◆ idleTimerCallback()

◆ onActive()

◆ onEntry()

◆ onExit()

◆ onExplorationStart()

◆ onExplorationStop()

◆ onInterrupt()

◆ onSetup()

◆ onWaypointFollowingStart()

◆ onWaypointFollowingStop()

◆ operationModeCallback()

◆ reverseModeCallback()

◆ unstuckTimerCallback()

Member Data Documentation

◆ _exploration_mode

◆ _get_exploration_mode_service

◆ _get_goal_obsolete_subscriber

◆ _get_navigation_goal_service

◆ _get_reverse_mode_service

◆ _get_robot_pose_service

◆ _goal_active

◆ _idle_timer

◆ _idle_timer_behavior

◆ _idle_timer_duration

◆ _last_position

◆ _last_yaw

◆ _move_base_client

◆ _nav_goal

◆ _navigation_completed_status

◆ _navigation_goal_completed_service

◆ _navigation_mode

◆ _nh

◆ _operation_mode

◆ _operation_mode_subscriber

◆ _pose_tolerance

◆ _reverse_mode

◆ _reverse_mode_subscriber

◆ _robot_did_move

◆ _routine

◆ _unstuck_timer

◆ _unstuck_timer_duration

◆ _unstucking_executed

◆ _unstucking_robot