mfcpp::CartControlNodelet Class Reference

Nodelet for cheated cartesian control of a robot. More...

#include <cart_control_nodelet.hpp>

Inheritance diagram for mfcpp::CartControlNodelet:

Collaboration diagram for mfcpp::CartControlNodelet:

Public Member Functions
	CartControlNodelet ()
	~CartControlNodelet ()
virtual void	onInit ()
	Function called at beginning of nodelet execution. More...

Private Member Functions
void	main_cb (const ros::TimerEvent &timer_event)
	Main callback which is called by a timer. More...
void	path_cb (const nav_msgs::PathConstPtr msg)
	Callback for the desired path. More...
void	compute_waypoints (const nav_msgs::Path &path, float speed, float dt, std::vector< geometry_msgs::Pose > &waypoints) const
	Computes the poses that the controller will assign to the robot. More...

Static Private Member Functions
static void	sigint_handler (int s)
	SINGINT (Ctrl+C) callback to stop the nodelet properly. More...

Private Attributes
ros::NodeHandle	nh_
	Node handler (for topics and services) More...
ros::NodeHandle	private_nh_
	Private node handler (for parameters) More...
ros::Subscriber	path_sub_
	Subscriber for the desired path. More...
ros::Publisher	pose_pub_
	Publisher for the output pose. More...
nav_msgs::Path	path_
	Desired path. More...
bool	path_received_
	Whether a new path has been received. More...
bool	path_processed_
	Whether the path has been processed. More...
bool	path_executed_
	Whether the previous path has been executed. More...
std::vector< geometry_msgs::Pose >	waypoints_
	Consecutive poses that the robot will be assigned to. More...
int	idx_waypoints_
	Current position in the waypoints list. More...
ROS parameters
float	main_freq_
	Frequency of the main loop. More...
float	robot_speed_

Static Private Attributes
static sig_atomic_t volatile	b_sigint_ = 0
	Whether SIGINT signal has been received. More...
static ros::Timer	main_timer_ = ros::Timer()
	Timer callback for the main function. More...

Detailed Description

Nodelet for cheated cartesian control of a robot.

The nodelet just teleports the robot along a given path, not taking into account any physical constraint.

Definition at line 28 of file cart_control_nodelet.hpp.

Constructor & Destructor Documentation

mfcpp::CartControlNodelet::CartControlNodelet

(

)

Definition at line 33 of file cart_control_nodelet.cpp.

mfcpp::CartControlNodelet::~CartControlNodelet

(

)

Definition at line 34 of file cart_control_nodelet.cpp.

Member Function Documentation

void mfcpp::CartControlNodelet::compute_waypoints ( const nav_msgs::Path &  path, float  speed, float  dt, std::vector< geometry_msgs::Pose > &  waypoints  ) const

private

Computes the poses that the controller will assign to the robot.

Parameters

[in]	path	Path to follow
[in]	speed	Desired speed of the robot
[in]	dt	Time interval between two poses
[out]	waypoints	List of computed waypoints

Definition at line 105 of file cart_control_nodelet.cpp.

void mfcpp::CartControlNodelet::main_cb ( const ros::TimerEvent &  timer_event )

private

Main callback which is called by a timer.

Parameters

timer_event

Timer event information

Definition at line 72 of file cart_control_nodelet.cpp.

void mfcpp::CartControlNodelet::onInit ( )

virtual

Function called at beginning of nodelet execution.

Definition at line 37 of file cart_control_nodelet.cpp.

void mfcpp::CartControlNodelet::path_cb ( const nav_msgs::PathConstPtr  msg )

private

Callback for the desired path.

Note

The frame in which the path is expressed should match with the fixed frame of the robot simulator.

Definition at line 98 of file cart_control_nodelet.cpp.

void mfcpp::CartControlNodelet::sigint_handler ( int  s )

staticprivate

SINGINT (Ctrl+C) callback to stop the nodelet properly.

Definition at line 90 of file cart_control_nodelet.cpp.

Member Data Documentation

sig_atomic_t volatile mfcpp::CartControlNodelet::b_sigint_ = 0

staticprivate

Whether SIGINT signal has been received.

Definition at line 41 of file cart_control_nodelet.hpp.

int mfcpp::CartControlNodelet::idx_waypoints_

private

Current position in the waypoints list.

Definition at line 54 of file cart_control_nodelet.hpp.

float mfcpp::CartControlNodelet::main_freq_

private

Frequency of the main loop.

Definition at line 58 of file cart_control_nodelet.hpp.

ros::Timer mfcpp::CartControlNodelet::main_timer_ = ros::Timer()

staticprivate

Timer callback for the main function.

Definition at line 42 of file cart_control_nodelet.hpp.

ros::NodeHandle mfcpp::CartControlNodelet::nh_

private

Node handler (for topics and services)

Definition at line 45 of file cart_control_nodelet.hpp.

nav_msgs::Path mfcpp::CartControlNodelet::path_

private

Desired path.

Definition at line 49 of file cart_control_nodelet.hpp.

bool mfcpp::CartControlNodelet::path_executed_

private

Whether the previous path has been executed.

Definition at line 52 of file cart_control_nodelet.hpp.

bool mfcpp::CartControlNodelet::path_processed_

private

Whether the path has been processed.

Definition at line 51 of file cart_control_nodelet.hpp.

bool mfcpp::CartControlNodelet::path_received_

private

Whether a new path has been received.

Definition at line 50 of file cart_control_nodelet.hpp.

ros::Subscriber mfcpp::CartControlNodelet::path_sub_

private

Subscriber for the desired path.

Definition at line 47 of file cart_control_nodelet.hpp.

ros::Publisher mfcpp::CartControlNodelet::pose_pub_

private

Publisher for the output pose.

Definition at line 48 of file cart_control_nodelet.hpp.

ros::NodeHandle mfcpp::CartControlNodelet::private_nh_

private

Private node handler (for parameters)

Definition at line 46 of file cart_control_nodelet.hpp.

float mfcpp::CartControlNodelet::robot_speed_

private

Desired robot speed

Definition at line 59 of file cart_control_nodelet.hpp.

std::vector<geometry_msgs::Pose> mfcpp::CartControlNodelet::waypoints_

private

Consecutive poses that the robot will be assigned to.

Definition at line 53 of file cart_control_nodelet.hpp.

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

• /home/corentin/thesis_ws/src/marine-farm-cpp/mf_navigation/include/mf_navigation/cart_control_nodelet.hpp
• /home/corentin/thesis_ws/src/marine-farm-cpp/mf_navigation/src/mf_navigation/cart_control_nodelet.cpp