Merge branch 'feature/stop_navigation_on_collision' into 'master'

Feature/stop navigation on collision

See merge request !1

homer_map_manager/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package homer_map_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.7 (2016-11-17)
+------------------
+
 0.1.6 (2016-11-04)
 ------------------
 

homer_map_manager/package.xml

 <package>
   <name>homer_map_manager</name>
-  <version>0.1.6</version>
+  <version>0.1.7</version>
   <description>
      map_manager
   </description>

homer_mapnav_msgs/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package homer_mapnav_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.7 (2016-11-17)
+------------------
+* Add a parameter to NavigateToPOI msgs to controll new behaviour (remove config parameter)
+* Contributors: Malte Roosen
+
 0.1.6 (2016-11-04)
 ------------------
 

homer_mapnav_msgs/msg/NavigateToPOI.msg

 string poi_name
 float32 distance_to_target
 bool skip_final_turn
+bool stop_before_obstacle

homer_mapnav_msgs/package.xml

 <package>
   <name>homer_mapnav_msgs</name>
-  <version>0.1.6</version>
+  <version>0.1.7</version>
   <description> homer_mapnav_msgs contains the messages used for mapping and navigation
   </description>
   <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>

homer_mapping/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package homer_mapping
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.7 (2016-11-17)
+------------------
+
 0.1.6 (2016-11-04)
 ------------------
 

homer_mapping/package.xml

 <package>
   <name>homer_mapping</name>
-  <version>0.1.6</version>
+  <version>0.1.7</version>
   <description>
 
      homer_mapping

homer_nav_libs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package homer_nav_libs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.7 (2016-11-17)
+------------------
+
 0.1.6 (2016-11-04)
 ------------------
 

homer_nav_libs/package.xml

 <?xml version="1.0"?>
 <package>
   <name>homer_nav_libs</name>
-  <version>0.1.6</version>
+  <version>0.1.7</version>
   <description>The nav_libs package</description>
 
   <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>

homer_navigation/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package homer_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.7 (2016-11-17)
+------------------
+* Add a parameter to NavigateToPOI msgs to controll new behaviour (remove config parameter)
+* Introduce parameter to change behaviour after collision avoidance
+* Autoformat homer_navigation_node
+* Contributors: Malte Roosen
+
+* Introduce parameter to change behaviour after collision avoidance
+* Autoformat homer_navigation_node
+* Contributors: Malte Roosen
+
 0.1.6 (2016-11-04)
 ------------------
 

homer_navigation/include/homer_navigation/homer_navigation_node.h

 #ifndef FastNavigationModule_H
 #define FastNavigationModule_H
 
-#include <vector>
-#include <string>
-#include <sstream>
 #include <cmath>
+#include <sstream>
+#include <string>
+#include <vector>
 
-#include <ros/ros.h>
 #include <ros/package.h>
+#include <ros/ros.h>
 
 #include <tf/transform_listener.h>
 
 #include <homer_robbie_architecture/Architecture/StateMachine/StateMachine.h>
 
-#include <nav_msgs/OccupancyGrid.h>
-#include <nav_msgs/Path.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Twist.h>
-#include <sensor_msgs/LaserScan.h>
-#include <homer_mapnav_msgs/StartNavigation.h>
+#include <homer_mapnav_msgs/GetPointsOfInterest.h>
 #include <homer_mapnav_msgs/NavigateToPOI.h>
+#include <homer_mapnav_msgs/StartNavigation.h>
 #include <homer_mapnav_msgs/TargetUnreachable.h>
-#include <homer_mapnav_msgs/GetPointsOfInterest.h>
-#include <std_msgs/Int8.h>
-#include <std_msgs/Float32.h>
-#include <std_msgs/Empty.h>
-#include <std_msgs/String.h>
-#include <std_msgs/Float32.h>
 #include <homer_ptu_msgs/CenterWorldPoint.h>
 #include <homer_ptu_msgs/SetPanTilt.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <nav_msgs/Path.h>
+#include <sensor_msgs/LaserScan.h>
+#include <std_msgs/Empty.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/Int8.h>
+#include <std_msgs/String.h>
 
-#include <homer_nav_libs/tools.h>
 #include <homer_nav_libs/Explorer/Explorer.h>
+#include <homer_nav_libs/tools.h>
 
 class Explorer;
 /**
@@ -40,290 +40,304 @@ class Explorer;
  * @brief  Performs autonomous navigation
  */
 class HomerNavigationNode {
+ public:
+  /**
+   * @brief   States of the state machines
+   */
+  enum ProcessState {
+    IDLE,
+    AWAITING_PATHPLANNING_MAP,
+    FOLLOWING_PATH,
+    AVOIDING_COLLISION,
+    FINAL_TURN
+  };
+
+  /**
+   * The constructor
+   */
+  HomerNavigationNode();
+
+  /**
+   * The destructor
+   */
+  virtual ~HomerNavigationNode();
+
+  /** @brief Is called in constant intervals. */
+  void idleProcess();
+
+ protected:
+  /** @brief Handles incoming messages. */
+  void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& msg);
+  void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);
+  void laserDataCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
+  void downlaserDataCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
+  void startNavigationCallback(
+      const homer_mapnav_msgs::StartNavigation::ConstPtr& msg);
+  void moveBaseSimpleGoalCallback(
+      const geometry_msgs::PoseStamped::ConstPtr& msg);
+  void stopNavigationCallback(const std_msgs::Empty::ConstPtr& msg);
+
+  void navigateToPOICallback(
+      const homer_mapnav_msgs::NavigateToPOI::ConstPtr& msg);
+  void unknownThresholdCallback(const std_msgs::Int8::ConstPtr& msg);
+  void maxDepthMoveDistanceCallback(const std_msgs::Float32::ConstPtr& msg);
+
+  /** @brief initializes and refreshs parameters */
+  void loadParameters();
+
+  /** @brief Is called when all modules are loaded and thread has started. */
+  virtual void init();
+
+  /** @brief Detect & handle possible collision */
+  void handleCollision();
+
+ private:
+  /** @brief Start navigation to m_Target on  last_map_data_ */
+  void startNavigation();
+
+  /** @brief Check if obstacles are blocking the way in last_map_data_ */
+  bool checkPath();
+
+  /** @brief calculate path from current robot position to target approximation
+   */
+  void calculatePath();
+
+  /** @brief Send message containing current navigation path */
+  void sendPathData();
+
+  /** @brief Sends target reached and stops the robot. */
+  void sendTargetReachedMsg();
+
+  /**
+   * @brief Sends a target unreachable with given reason and stops the robot.
+   * @param reason reason for unreachable target (see
+   * homer_mapnav_msgs::TargetUnreachable for possible reasons)
+   */
+  void sendTargetUnreachableMsg(int8_t reason);
+
+  /** @brief reloads all params from the parameterserver */
+  void refreshParamsCallback(const std_msgs::Empty::ConstPtr& msg);
+
+  /** @brief Navigate robot to next waypoint */
+  void performNextMove();
+
+  /** @brief Finishes navigation or starts turning to target direction if the
+   * target position has been reached */
+  void targetPositionReached();
+
+  /** @return Angle from robot_pose_ to point in degrees */
+  int angleToPointDeg(geometry_msgs::Point point);
+
+  /** @brief Calculates current maximal backwards distance on map Data */
+  bool backwardObstacle();
+
+  /** @brief stops the Robot */
+  void stopRobot();
+
+  /**
+   * @brief Sets each cell of the map to -1 outside the bounding box
+   *        containing the robot pose and the current target
+   */
+  void maskMap();
+
+  /**
+   * @brief Current path was finished (either successful or not),
+   *        sets state machine to path planning to check if the robot is already
+   * at the goal
+   */
+  void currentPathFinished();
+
+  // convenience math functions
+  /**
+   * Computes minimum turn angle from angle 1 to angle 2
+   * @param angle1 from angle
+   * @param angle2 to angle
+   * @return minimal angle needed to turn from angle 1 to angle 2 [-Pi..Pi]
+   */
+  static float minTurnAngle(float angle1, float angle2);
+
+  /**
+   * converts value from degree to radiant
+   * @param deg Value in degree
+   * @return value in radiants
+   */
+  static float deg2Rad(float deg) { return deg / 180.0 * M_PI; }
+
+  /**
+   * converts value from radiants to degrees
+   * @param rad Value in radiants
+   * @return value in degrees
+   */
+  static float rad2Deg(float rad) { return rad / M_PI * 180.0; }
+
+  bool drawPolygon(std::vector<geometry_msgs::Point> vertices);
+  void drawLine(std::vector<int>& data, int startX, int startY, int endX,
+                int endY, int value);
+  bool fillPolygon(std::vector<int>& data, int x, int y, int value);
 
-	public:
-
-		/**
-		 * @brief   States of the state machines
-		 */
-		enum ProcessState
-		{
-			IDLE,
-			AWAITING_PATHPLANNING_MAP,
-			FOLLOWING_PATH,
-			AVOIDING_COLLISION,
-			FINAL_TURN
-		};
-
-		/**
-		 * The constructor
-		 */
-		HomerNavigationNode();
-
-		/**
-		 * The destructor
-		 */
-		virtual ~HomerNavigationNode();
-
-		/** @brief Is called in constant intervals. */
-		void idleProcess();
-
-
-	protected:
-		/** @brief Handles incoming messages. */
-		void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& msg);
-		void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);
-		void laserDataCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
-		void downlaserDataCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
-		void startNavigationCallback(const homer_mapnav_msgs::StartNavigation::ConstPtr& msg);
-		void moveBaseSimpleGoalCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);
-		void stopNavigationCallback(const std_msgs::Empty::ConstPtr& msg);
-
-		void navigateToPOICallback(const homer_mapnav_msgs::NavigateToPOI::ConstPtr& msg);
-		void unknownThresholdCallback(const std_msgs::Int8::ConstPtr& msg);
-		void maxDepthMoveDistanceCallback(const std_msgs::Float32::ConstPtr& msg);
-
-
-		/** @brief initializes and refreshs parameters */
-		void loadParameters();
-
-		/** @brief Is called when all modules are loaded and thread has started. */
-		virtual void init();
-
-		/** @brief Detect & handle possible collision */
-		void handleCollision();
-
-	private:
-		/** @brief Start navigation to m_Target on  last_map_data_ */
-		void startNavigation();
-
-		/** @brief Check if obstacles are blocking the way in last_map_data_ */
-		bool checkPath();
-
-		/** @brief calculate path from current robot position to target approximation */
-		void calculatePath();
-
-		/** @brief Send message containing current navigation path */
-		void sendPathData();
-
-		/** @brief Sends target reached and stops the robot. */
-		void sendTargetReachedMsg();
-
-		/**
-		 * @brief Sends a target unreachable with given reason and stops the robot.
-		 * @param reason reason for unreachable target (see homer_mapnav_msgs::TargetUnreachable for possible reasons)
-		 */
-		void sendTargetUnreachableMsg( int8_t reason );
-
-		/** @brief reloads all params from the parameterserver */
-		void refreshParamsCallback(const std_msgs::Empty::ConstPtr& msg);
-
-		/** @brief Navigate robot to next waypoint */
-		void performNextMove();
-
-		/** @brief Finishes navigation or starts turning to target direction if the target position has been reached */
-		void targetPositionReached();
-
-		/** @return Angle from robot_pose_ to point in degrees */
-		int angleToPointDeg(geometry_msgs::Point point);
-
-		/** @brief Calculates current maximal backwards distance on map Data */
-		bool backwardObstacle();
-
-		/** @brief stops the Robot */
-		void stopRobot();
-
-		/**
-		 * @brief Sets each cell of the map to -1 outside the bounding box
-		 *        containing the robot pose and the current target
-		 */
-		void maskMap();
-
-		/**
-		 * @brief Current path was finished (either successful or not),
-		 *        sets state machine to path planning to check if the robot is already at the goal
-		 */
-		void currentPathFinished();
-
-		//convenience math functions
-		/**
-		 * Computes minimum turn angle from angle 1 to angle 2
-		 * @param angle1 from angle
-		 * @param angle2 to angle
-		 * @return minimal angle needed to turn from angle 1 to angle 2 [-Pi..Pi]
-		 */
-		static float minTurnAngle ( float angle1, float angle2 );
-
-		/**
-		 * converts value from degree to radiant
-		 * @param deg Value in degree
-		 * @return value in radiants
-		 */
-		static float deg2Rad ( float deg ) { return deg / 180.0*M_PI; }
-
-		/**
-		 * converts value from radiants to degrees
-		 * @param rad Value in radiants
-		 * @return value in degrees
-		 */
-		static float rad2Deg ( float rad ) { return rad / M_PI*180.0; }
+  /** @brief calcs the maximal move distance from Laser and DepthData */
+  void calcMaxMoveDist();
 
-		bool drawPolygon ( std::vector< geometry_msgs::Point > vertices);
-		void drawLine ( std::vector<int> &data, int startX, int startY, int endX, int endY, int value );
-		bool fillPolygon ( std::vector<int> &data, int x, int y, int value );
+  /// @brief Worker instances
+  Explorer* m_explorer;
 
-		/** @brief calcs the maximal move distance from Laser and DepthData */
-		void calcMaxMoveDist();
+  /// @brief State machine
+  StateMachine<ProcessState> m_MainMachine;
 
-		/// @brief Worker instances
-		Explorer* m_explorer;
+  /// @brief Navigation options & data
 
-		/// @brief State machine
-		StateMachine<ProcessState> m_MainMachine;
+  /** list of waypoints subsampled from m_PixelPath */
+  std::vector<geometry_msgs::PoseStamped> m_waypoints;
 
-		/// @brief Navigation options & data
+  /** Path planned by Explorer, pixel accuracy */
+  std::vector<Eigen::Vector2i> m_pixel_path;
+
+  /** target point */
+  geometry_msgs::Point m_target_point;
 
-		/** list of waypoints subsampled from m_PixelPath */
-		std::vector<geometry_msgs::PoseStamped> m_waypoints;
+  /** target name if called via Navigate_to_POI */
+  std::string m_target_name;
 
-		/** Path planned by Explorer, pixel accuracy */
-		std::vector<Eigen::Vector2i> m_pixel_path;
+  /** orientation the robot should have at the target point */
+  double m_target_orientation;
 
-		/** target point */
-		geometry_msgs::Point m_target_point;
-		
-		/** target name if called via Navigate_to_POI */
-		std::string m_target_name;
+  /** allowed distance to target */
+  float m_desired_distance;
 
-		/** orientation the robot should have at the target point */
-		double m_target_orientation;
+  /** check if the final turn should be skipped */
+  bool m_skip_final_turn;
 
-		/** allowed distance to target */
-		float m_desired_distance;
+  /**
+   *  check if navigation should perform fast planning. In this mode a path is
+   * only planned within
+   *  a bounding box containing the robot pose and the target point
+   */
+  bool m_fast_path_planning;
 
-		/** check if the final turn should be skipped */
-		bool m_skip_final_turn;
+  /** current pose of the robot */
+  geometry_msgs::Pose m_robot_pose;
 
-		/**
-		 *  check if navigation should perform fast planning. In this mode a path is only planned within
-		 *  a bounding box containing the robot pose and the target point
-		 */
-		bool m_fast_path_planning;
-
-		/** current pose of the robot */
-		geometry_msgs::Pose m_robot_pose;
-		
-		/** last pose of the robot */
-		geometry_msgs::Pose m_robot_last_pose;
-
-		/** time stamp of the last incoming laser scan */
-		ros::Time m_last_laser_time;
-		/** time stamp of the last incoming pose */
-		ros::Time m_last_pose_time;
-
-		/** Distance factor of a frontier cell considered save for exploration */
-		float m_FrontierSafenessFactor;
-
-		double m_SafePathWeight;
-
-		///map parameters
-		double m_resolution;
-		double m_width;
-		double m_height;
-		geometry_msgs::Pose m_origin;
-
-		/// @brief Configuration parameters
-
-		/** Allowed distances of obstacles to robot. Robot must move within these bounds */
-		std::pair<float,float> m_AllowedObstacleDistance;
-
-		/** Safe distances of obstacles to robot. If possible, robot should move within these bounds */
-		std::pair<float,float> m_SafeObstacleDistance;
-
-		/** threshold to sample down waypoints */
-		float m_waypoint_sampling_threshold;
-
-		float m_max_move_distance;
-		float m_max_move_sick;
-		float m_max_move_down;
-		float m_max_move_depth;
-
-		/** if distance to nearest obstacle is below collision distance trigger collision avoidance */
-		float m_collision_distance;
-
-		/** if distance to nearest obstacle is below collision distance don't drive backwards */
-		float m_backward_collision_distance;
-		/** do not drive back in collision avoidance when this near target */
-		float m_collision_distance_near_target;
-
-		/** if true, obstacles in path will be detected and path will be replanned */
-		bool m_check_path;
-
-		/** waypoints will only be checked for obstacles if they are closer than check_path_max_distance to robot */
-		float m_check_path_max_distance;
-
-		bool m_avoided_collision;
-
-		float m_min_turn_angle;
-		float m_max_turn_speed;
-		float m_min_turn_speed;
-		float m_max_move_speed;
-		float m_max_drive_angle;
-		float m_waypoint_radius_factor;
+  /** last pose of the robot */
+  geometry_msgs::Pose m_robot_last_pose;
+
+  /** time stamp of the last incoming laser scan */
+  ros::Time m_last_laser_time;
+  /** time stamp of the last incoming pose */
+  ros::Time m_last_pose_time;
+
+  /** Distance factor of a frontier cell considered save for exploration */
+  float m_FrontierSafenessFactor;
+
+  double m_SafePathWeight;
+
+  /// map parameters
+  double m_resolution;
+  double m_width;
+  double m_height;
+  geometry_msgs::Pose m_origin;
+
+  /// @brief Configuration parameters
+
+  /** Allowed distances of obstacles to robot. Robot must move within these
+   * bounds */
+  std::pair<float, float> m_AllowedObstacleDistance;
+
+  /** Safe distances of obstacles to robot. If possible, robot should move
+   * within these bounds */
+  std::pair<float, float> m_SafeObstacleDistance;
+
+  /** threshold to sample down waypoints */
+  float m_waypoint_sampling_threshold;
+
+  float m_max_move_distance;
+  float m_max_move_sick;
+  float m_max_move_down;
+  float m_max_move_depth;
+
+  /** if distance to nearest obstacle is below collision distance trigger
+   * collision avoidance */
+  float m_collision_distance;
+
+  /** if distance to nearest obstacle is below collision distance don't drive
+   * backwards */
+  float m_backward_collision_distance;
+  /** do not drive back in collision avoidance when this near target */
+  float m_collision_distance_near_target;
+
+  /** if true, obstacles in path will be detected and path will be replanned */
+  bool m_check_path;
+
+  /** waypoints will only be checked for obstacles if they are closer than
+   * check_path_max_distance to robot */
+  float m_check_path_max_distance;
+
+  /** do not replan if lisa avoids an obstacle, instead send target
+   * unreachable*/
+  bool m_stop_before_obstacle;
 
-		float m_distance_to_target;
-		float m_act_speed;
-		float m_angular_avoidance;
+  bool m_avoided_collision;
 
-		float m_map_speed_factor;
-		float m_waypoint_speed_factor;
-		float m_obstacle_speed_factor;
-		float m_target_distance_speed_factor;
-
-		float m_min_y;
-		float m_min_x;
-
-		float m_callback_error_duration;
-
-		bool  m_last_check_path_res;
-		bool  m_use_ptu;
-		bool  m_new_target;
-
-		bool  m_path_reaches_target;
-		int   m_last_calculations_failed;
-		int   m_unknown_threshold;
-
-		/** last map data */
-		std::vector<int8_t> * m_last_map_data;
-
-		//ros specific members
-		tf::TransformListener m_transform_listener;
-
-		//subscribers
-		ros::Subscriber m_map_sub;
-		ros::Subscriber m_pose_sub;
-		ros::Subscriber m_laser_data_sub;
-		ros::Subscriber m_down_laser_data_sub;
-		ros::Subscriber m_laser_back_data_sub;
-		ros::Subscriber m_start_navigation_sub;
-		ros::Subscriber m_stop_navigation_sub;
-		ros::Subscriber m_navigate_to_poi_sub;
-		ros::Subscriber m_unknown_threshold_sub;
-		ros::Subscriber m_refresh_param_sub;
-		ros::Subscriber m_max_move_depth_sub;
-		ros::Subscriber m_move_base_simple_goal_sub;
-
-		//publishers
-		ros::Publisher  m_cmd_vel_pub;
-		ros::Publisher  m_target_reached_string_pub;
-		//ros::Publisher  m_target_reached_empty_pub;
-		ros::Publisher  m_target_unreachable_pub;
-		ros::Publisher  m_path_pub;
-		ros::Publisher  m_ptu_center_world_point_pub;
-		ros::Publisher  m_set_pan_tilt_pub;
-		ros::Publisher  m_debug_pub;
-
-		//service clients
-		ros::ServiceClient m_get_POIs_client;
+  float m_min_turn_angle;
+  float m_max_turn_speed;
+  float m_min_turn_speed;
+  float m_max_move_speed;
+  float m_max_drive_angle;
+  float m_waypoint_radius_factor;
+
+  float m_distance_to_target;
+  float m_act_speed;
+  float m_angular_avoidance;
+
+  float m_map_speed_factor;
+  float m_waypoint_speed_factor;
+  float m_obstacle_speed_factor;
+  float m_target_distance_speed_factor;
+
+  float m_min_y;
+  float m_min_x;
+
+  float m_callback_error_duration;
+
+  bool m_last_check_path_res;
+  bool m_use_ptu;
+  bool m_new_target;
+
+  bool m_path_reaches_target;
+  bool m_initial_path_reaches_target;
+  int m_last_calculations_failed;
+  int m_unknown_threshold;
+
+  /** last map data */
+  std::vector<int8_t>* m_last_map_data;
+
+  // ros specific members
+  tf::TransformListener m_transform_listener;
+
+  // subscribers
+  ros::Subscriber m_map_sub;
+  ros::Subscriber m_pose_sub;
+  ros::Subscriber m_laser_data_sub;
+  ros::Subscriber m_down_laser_data_sub;
+  ros::Subscriber m_laser_back_data_sub;
+  ros::Subscriber m_start_navigation_sub;
+  ros::Subscriber m_stop_navigation_sub;
+  ros::Subscriber m_navigate_to_poi_sub;
+  ros::Subscriber m_unknown_threshold_sub;
+  ros::Subscriber m_refresh_param_sub;
+  ros::Subscriber m_max_move_depth_sub;
+  ros::Subscriber m_move_base_simple_goal_sub;
+
+  // publishers
+  ros::Publisher m_cmd_vel_pub;
+  ros::Publisher m_target_reached_string_pub;
+  // ros::Publisher  m_target_reached_empty_pub;
+  ros::Publisher m_target_unreachable_pub;
+  ros::Publisher m_path_pub;
+  ros::Publisher m_ptu_center_world_point_pub;
+  ros::Publisher m_set_pan_tilt_pub;
+  ros::Publisher m_debug_pub;
+
+  // service clients
+  ros::ServiceClient m_get_POIs_client;
 };
 #endif

homer_navigation/package.xml

 <?xml version="1.0"?>
 <package>
   <name>homer_navigation</name>
-  <version>0.1.6</version>
+  <version>0.1.7</version>
   <description>The homer_navigation package</description>
 
   <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>