cl_move_base_z::CbNavigateGlobalPosition Class Reference

#include <cb_navigate_global_position.h>

Inheritance diagram for cl_move_base_z::CbNavigateGlobalPosition:

Collaboration diagram for cl_move_base_z::CbNavigateGlobalPosition:

Public Member Functions
	CbNavigateGlobalPosition ()
	CbNavigateGlobalPosition (float x, float y, float yaw)
void	setGoal (const geometry_msgs::Pose &pose)
virtual void	onEntry ()
void	execute ()
void	readStartPoseFromParameterServer (ClMoveBaseZ::Goal &goal)
virtual void	onExit () override
Public Member Functions inherited from cl_move_base_z::CbMoveBaseClientBehaviorBase
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
ros::NodeHandle	getNode ()

Public Attributes
boost::optional< geometry_msgs::Point >	goalPosition
boost::optional< float >	goalYaw

Additional Inherited Members
Protected Member Functions inherited from smacc::SmaccAsyncClientBehavior
virtual void	executeOnEntry () override
virtual void	executeOnExit () override
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
Protected Member Functions inherited from smacc::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	executeOnEntry ()
virtual void	executeOnExit ()
virtual void	dispose ()
Protected Attributes inherited from cl_move_base_z::CbMoveBaseClientBehaviorBase
ClMoveBaseZ *	moveBaseClient_
ros::Publisher	visualizationMarkersPub_

Detailed Description

Definition at line 14 of file cb_navigate_global_position.h.

Constructor & Destructor Documentation

CbNavigateGlobalPosition() [1/2]

cl_move_base_z::CbNavigateGlobalPosition::CbNavigateGlobalPosition

(

)

Definition at line 10 of file cb_navigate_global_position.cpp.

{
}

CbNavigateGlobalPosition() [2/2]

cl_move_base_z::CbNavigateGlobalPosition::CbNavigateGlobalPosition	(	float	x,
		float	y,
		float	yaw
	)

Definition at line 14 of file cb_navigate_global_position.cpp.

{
  auto p = geometry_msgs::Point();
  p.x = x;
  p.y = y;
  goalPosition = p;
  goalYaw = yaw;
}

References goalPosition, and goalYaw.

Member Function Documentation

execute()

void cl_move_base_z::CbNavigateGlobalPosition::execute

(

)

Definition at line 47 of file cb_navigate_global_position.cpp.

{
  auto p = moveBaseClient_->getComponent<cl_move_base_z::Pose>();
  auto referenceFrame = p->getReferenceFrame();
  auto currentPoseMsg = p->toPoseMsg();
 
  ROS_INFO("Sending Goal to MoveBase");
  ClMoveBaseZ::Goal goal;
  goal.target_pose.header.frame_id = referenceFrame;
  goal.target_pose.header.stamp = ros::Time::now();
  readStartPoseFromParameterServer(goal);
 
  // store the start pose on the state machine storage so that it can
  // be referenced from other states (for example return to radial start)
  this->getStateMachine()->setGlobalSMData("radial_start_pose", goal.target_pose);
 
  moveBaseClient_->sendGoal(goal);
}

References smacc::ISmaccClient::getComponent(), cl_move_base_z::Pose::getReferenceFrame(), smacc::ISmaccClientBehavior::getStateMachine(), cl_move_base_z::CbMoveBaseClientBehaviorBase::moveBaseClient_, readStartPoseFromParameterServer(), smacc::client_bases::SmaccActionClientBase< ActionType >::sendGoal(), and smacc::ISmaccStateMachine::setGlobalSMData().

Referenced by onEntry().

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onEntry()

void cl_move_base_z::CbNavigateGlobalPosition::onEntry ( )

virtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 29 of file cb_navigate_global_position.cpp.

{
  ROS_INFO("[CbNavigateGlobalPosition] Entering Navigate Global position");
 
  auto plannerSwitcher = moveBaseClient_->getComponent<PlannerSwitcher>();
  plannerSwitcher->setDefaultPlanners();
 
  auto pose = moveBaseClient_->getComponent<cl_move_base_z::Pose>()->toPoseMsg();
  auto *odomTracker = moveBaseClient_->getComponent<OdomTracker>();
 
  odomTracker->pushPath("FreeNavigationToGoalPose");
  odomTracker->setStartPoint(pose);
  odomTracker->setWorkingMode(WorkingMode::RECORD_PATH);
 
  execute();
}

References execute(), smacc::ISmaccClient::getComponent(), cl_move_base_z::CbMoveBaseClientBehaviorBase::moveBaseClient_, and cl_move_base_z::PlannerSwitcher::setDefaultPlanners().

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onExit()

void cl_move_base_z::CbNavigateGlobalPosition::onExit ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 88 of file cb_navigate_global_position.cpp.

{
  ROS_INFO("Exiting move goal Action Client");
}

readStartPoseFromParameterServer()

void cl_move_base_z::CbNavigateGlobalPosition::readStartPoseFromParameterServer

(

ClMoveBaseZ::Goal &

goal

)

Definition at line 66 of file cb_navigate_global_position.cpp.

{
  if (!goalPosition)
  {
    this->getCurrentState()->getParam("start_position_x", goal.target_pose.pose.position.x);
    this->getCurrentState()->getParam("start_position_y", goal.target_pose.pose.position.y);
    double yaw;
    this->getCurrentState()->getParam("start_position_yaw", yaw);
 
    goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
  }
  else
  {
    goal.target_pose.pose.position = *goalPosition;
    goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(*goalYaw);
  }
 
  ROS_INFO_STREAM("start position read from parameter server: " << goal.target_pose.pose.position);
}

References smacc::ISmaccClientBehavior::getCurrentState(), smacc::ISmaccState::getParam(), goalPosition, and goalYaw.

Referenced by execute().

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setGoal()

void cl_move_base_z::CbNavigateGlobalPosition::setGoal

(

const geometry_msgs::Pose &

pose

)

Definition at line 23 of file cb_navigate_global_position.cpp.

{
  goalPosition = pose.position;
  goalYaw = tf::getYaw(pose.orientation);
}

References goalPosition, and goalYaw.

Member Data Documentation

goalPosition

boost::optional<geometry_msgs::Point> cl_move_base_z::CbNavigateGlobalPosition::goalPosition

Definition at line 17 of file cb_navigate_global_position.h.

Referenced by CbNavigateGlobalPosition(), readStartPoseFromParameterServer(), and setGoal().

goalYaw

boost::optional<float> cl_move_base_z::CbNavigateGlobalPosition::goalYaw

Definition at line 18 of file cb_navigate_global_position.h.

Referenced by CbNavigateGlobalPosition(), readStartPoseFromParameterServer(), and setGoal().

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

• smacc_client_library/move_base_z_client/move_base_z_client_plugin/include/move_base_z_client_plugin/client_behaviors/cb_navigate_global_position.h
• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/client_behaviors/cb_navigate_global_position.cpp