halt_detector.cpp File Reference

#include <ros/ros.h>
#include <cob_base_controller_utils/WheelCommands.h>
#include <controller_manager_msgs/SwitchController.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <geometry_msgs/Twist.h>
#include <std_srvs/Trigger.h>

Include dependency graph for halt_detector.cpp:

Go to the source code of this file.

Functions
void	baseCommandsCallback (const geometry_msgs::Twist::ConstPtr &msg)
bool	containsSubstring (std::string string, std::string substring)
void	diagnosticsAggCallback (const diagnostic_msgs::DiagnosticArray::ConstPtr &msg)
void	halt ()
void	haltAfterStopTimeoutCallback (const ros::TimerEvent &)
int	main (int argc, char *argv[])
void	recover ()
void	recoverAfterStuckCallback (const ros::TimerEvent &)
void	switch_controllers ()
void	wheelCommandsCallback (const cob_base_controller_utils::WheelCommands::ConstPtr &msg)

Variables
std::vector< std::string >	g_controller_spawn
std::vector< std::string >	g_diagnostic_recovery_trigger
ros::ServiceClient	g_halt_client
bool	g_is_stopped
bool	g_is_stuck
ros::Time	g_last_diagnostic_recover_timestamp
std::vector< ros::Time >	g_last_wheel_commands_ok
ros::Duration	g_recover_after_stuck_timeout
ros::Timer	g_recover_after_stuck_timer
ros::ServiceClient	g_recover_client
bool	g_recovering
double	g_stop_threshold
ros::Duration	g_stop_timeout
ros::Timer	g_stop_timer
bool	g_stuck_possible
double	g_stuck_threshold
ros::Duration	g_stuck_timeout
ros::ServiceClient	g_switch_controller_client

Function Documentation

baseCommandsCallback()

void baseCommandsCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Callback for base command twists.

Restarts the stop_timer if twist exceeds the threshold. Additionally recovers the base if a twist exceeds the threshold, the base ist not stuck and not yet recovered.

Parameters

msg	Twist message.

Definition at line 223 of file halt_detector.cpp.

containsSubstring()

bool containsSubstring	(	std::string	string,
		std::string	substring
	)

Checks if a substring is present in a string.

Parameters

string	String which is checked.
substring	String which is searched.

Returns

Tue if substring is present, false otherwise.

Definition at line 121 of file halt_detector.cpp.

diagnosticsAggCallback()

void diagnosticsAggCallback

(

const diagnostic_msgs::DiagnosticArray::ConstPtr &

msg

)

Callback for diagnostic aggregation.

Recovers on diagnostic errors if currently not stuck.

Parameters

msg	DiagnosticArray message.

Definition at line 136 of file halt_detector.cpp.

halt()

void halt

(

)

Halt the base.

Definition at line 85 of file halt_detector.cpp.

haltAfterStopTimeoutCallback()

void haltAfterStopTimeoutCallback

(

const ros::TimerEvent &

)

Callback for the stop timer.

Definition at line 94 of file halt_detector.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 243 of file halt_detector.cpp.

recover()

void recover

(

)

Recover the base.

Definition at line 69 of file halt_detector.cpp.

recoverAfterStuckCallback()

void recoverAfterStuckCallback

(

const ros::TimerEvent &

)

Callback for the recover timer after stuck.

Definition at line 104 of file halt_detector.cpp.

switch_controllers()

void switch_controllers

(

)

Reload the controllers.

Definition at line 49 of file halt_detector.cpp.

wheelCommandsCallback()

void wheelCommandsCallback

(

const cob_base_controller_utils::WheelCommands::ConstPtr &

msg

)

Callback for wheel commands.

Calls a halt if the error of the wheel commands exceeded set threshold for set timeout.

Parameters

msg	WheelCommands message.

Definition at line 176 of file halt_detector.cpp.

Variable Documentation

g_controller_spawn

std::vector<std::string> g_controller_spawn

Definition at line 28 of file halt_detector.cpp.

g_diagnostic_recovery_trigger

std::vector<std::string> g_diagnostic_recovery_trigger

Definition at line 42 of file halt_detector.cpp.

g_halt_client

ros::ServiceClient g_halt_client

Definition at line 25 of file halt_detector.cpp.

g_is_stopped

bool g_is_stopped

Definition at line 39 of file halt_detector.cpp.

g_is_stuck

bool g_is_stuck

Definition at line 40 of file halt_detector.cpp.

g_last_diagnostic_recover_timestamp

ros::Time g_last_diagnostic_recover_timestamp

Definition at line 33 of file halt_detector.cpp.

g_last_wheel_commands_ok

std::vector<ros::Time> g_last_wheel_commands_ok

Definition at line 32 of file halt_detector.cpp.

g_recover_after_stuck_timeout

ros::Duration g_recover_after_stuck_timeout

Definition at line 31 of file halt_detector.cpp.

g_recover_after_stuck_timer

ros::Timer g_recover_after_stuck_timer

Definition at line 35 of file halt_detector.cpp.

g_recover_client

ros::ServiceClient g_recover_client

Definition at line 26 of file halt_detector.cpp.

g_recovering

bool g_recovering

Definition at line 38 of file halt_detector.cpp.

g_stop_threshold

double g_stop_threshold

Definition at line 37 of file halt_detector.cpp.

g_stop_timeout

ros::Duration g_stop_timeout

Definition at line 29 of file halt_detector.cpp.

g_stop_timer

ros::Timer g_stop_timer

Definition at line 34 of file halt_detector.cpp.

g_stuck_possible

bool g_stuck_possible

Definition at line 41 of file halt_detector.cpp.

g_stuck_threshold

double g_stuck_threshold

Definition at line 36 of file halt_detector.cpp.

g_stuck_timeout

ros::Duration g_stuck_timeout

Definition at line 30 of file halt_detector.cpp.

g_switch_controller_client

ros::ServiceClient g_switch_controller_client

Definition at line 27 of file halt_detector.cpp.