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Commit ea7e7372 authored by Niklas Yann Wettengel's avatar Niklas Yann Wettengel
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Rebase from 'debian/kinetic/homer_navigation'

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CHANGELOG.rst
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......@@ -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)
------------------
......
debian/changelog deleted 100644 → 0
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ros-kinetic-homer-navigation (0.1.6-1xenial) xenial; urgency=high
-- Viktor Seib <vseib@uni-koblenz.de> Thu, 03 Nov 2016 23:00:00 -0000
ros-kinetic-homer-navigation (0.1.5-1xenial) xenial; urgency=high
* fixed dependencies
* Contributors: Niklas Yann Wettengel
-- Viktor Seib <vseib@uni-koblenz.de> Thu, 03 Nov 2016 23:00:00 -0000
ros-kinetic-homer-navigation (0.1.4-1xenial) xenial; urgency=high
* fixes
* updated changelog
* Contributors: Niklas Yann Wettengel
-- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
ros-kinetic-homer-navigation (0.1.3-1xenial) xenial; urgency=high
-- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
ros-kinetic-homer-navigation (0.1.2-1xenial) xenial; urgency=high
* install launch files
* Contributors: Niklas Yann Wettengel
-- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
ros-kinetic-homer-navigation (0.1.1-1xenial) xenial; urgency=high
* fixes
* initial commit
* Contributors: Niklas Yann Wettengel
-- Viktor Seib <vseib@uni-koblenz.de> Wed, 02 Nov 2016 23:00:00 -0000
debian/changelog.em 0 → 100644
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@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)-@(DebianInc)@(Distribution)) @(Distribution); urgency=high
@(changelog)
-- @(main_name) <@(main_email)> @(change_date)
@[end for]
debian/compat deleted 100644 → 0
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9
\ No newline at end of file
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@(debhelper_version)
\ No newline at end of file
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Source: ros-kinetic-homer-navigation
Section: misc
Priority: extra
Maintainer: Viktor Seib <vseib@uni-koblenz.de>
Build-Depends: debhelper (>= 9.0.0), libeigen3-dev, ros-kinetic-catkin, ros-kinetic-cmake-modules, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-ptu-msgs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
Homepage:
Standards-Version: 3.9.2
Package: ros-kinetic-homer-navigation
Architecture: any
Depends: ${shlibs:Depends}, ${misc:Depends}, libeigen3-dev, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-ptu-msgs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
Description: The homer_navigation package
debian/control.em 0 → 100644
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Source: @(Package)
Section: misc
Priority: extra
Maintainer: @(Maintainer)
Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
Homepage: @(Homepage)
Standards-Version: 3.9.2
Package: @(Package)
Architecture: any
Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
Description: @(Description)
debian/gbp.conf → debian/gbp.conf.em
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[git-buildpackage]
upstream-tag=release/kinetic/homer_navigation/0.1.6-1
upstream-tag=@(release_tag)
upstream-tree=tag
debian/rules → debian/rules.em
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− 10
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......@@ -14,29 +14,29 @@ export DH_OPTIONS=-v --buildsystem=cmake
# https://code.ros.org/trac/ros/ticket/2977
# https://code.ros.org/trac/ros/ticket/3842
export LDFLAGS=
export PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig
export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
# Explicitly enable -DNDEBUG, see:
# https://github.com/ros-infrastructure/bloom/issues/327
export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
%:
dh $@
dh $@@
override_dh_auto_configure:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_configure -- \
-DCATKIN_BUILD_BINARY_PACKAGE="1" \
-DCMAKE_INSTALL_PREFIX="/opt/ros/kinetic" \
-DCMAKE_PREFIX_PATH="/opt/ros/kinetic"
-DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
-DCMAKE_PREFIX_PATH="@(InstallationPrefix)"
override_dh_auto_build:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_build
override_dh_auto_test:
......@@ -44,19 +44,19 @@ override_dh_auto_test:
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
echo -- Running tests. Even if one of them fails the build is not canceled.
if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_test || true
override_dh_shlibdeps:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
dh_shlibdeps -l$(CURDIR)/debian/ros-kinetic-homer-navigation//opt/ros/kinetic/lib/
if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/
override_dh_auto_install:
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree that was dropped by catkin, and source it. It will
# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
dh_auto_install
include/homer_navigation/homer_navigation_node.h
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#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
package.xml
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<?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>
......
src/homer_navigation_node.cpp
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