#include <chassis_executor.h>

Public Types
enum	ExcutionMode { ExcutionMode::IDLE_MODE, ExcutionMode::GOAL_USE_PLANNER_MODE, ExcutionMode::GOAL_FROM_ODOM_MODE, ExcutionMode::SPEED_MODE, ExcutionMode::SPEED_WITH_ACCEL_MODE }
	Chassis execution mode for different tasks. More...

enum	GoalMode { GoalMode::GOAL_MODE_USE_GOLBAL_LOCAL_PLANNER, GoalMode::GOAL_MODE_USE_ODOM_DATA }

Public Member Functions
	ChassisExecutor (const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Constructor of ChassisExecutor. More...

	~ChassisExecutor ()=default

void	Execute (const geometry_msgs::PoseStamped &goal)
	Execute the goal-targeted task using global and local planner with actionlib. More...

void	Execute (const geometry_msgs::PoseStamped &goal, GoalMode _goal_mode)

void	Execute (const geometry_msgs::Twist &twist)
	Execute the velocity task with publisher. More...

void	Execute (const roborts_msgs::TwistAccel &twist_accel)
	Execute the velocity with acceleration task with publisher. More...

BehaviorState	Update ()
	Update the current chassis executor state. More...

void	Cancel ()
	Cancel the current task and deal with the mode transition. More...

uint32_t	GetErrorCode () const

Private Types
typedef actionlib::SimpleActionClient< roborts_msgs::GlobalPlannerAction >	GlobalActionClient

typedef actionlib::SimpleActionClient< roborts_msgs::LocalPlannerAction >	LocalActionClient

typedef actionlib::SimpleActionClient< roborts_msgs::PIDControllerTowardAngularAction >	PIDControllerClient

Private Member Functions
void	GlobalPlannerFeedbackCallback (const roborts_msgs::GlobalPlannerFeedbackConstPtr &global_planner_feedback)

void	GlobalPlannerDoneCallback (const actionlib::SimpleClientGoalState &state, const roborts_msgs::GlobalPlannerResultConstPtr &global_planner_result)

void	PIDControllerFeedbackCallback (const roborts_msgs::PIDControllerTowardAngularFeedbackConstPtr &pid_controller_toward_angular_feedback)

Private Attributes
ros::NodeHandle	nh_

ExcutionMode	execution_mode_
	execution mode of the executor More...

BehaviorState	execution_state_
	execution state of the executor (same with behavior state) More...

actionlib::SimpleActionClient< roborts_msgs::GlobalPlannerAction >	global_planner_client_
	global planner actionlib client More...

actionlib::SimpleActionClient< roborts_msgs::LocalPlannerAction >	local_planner_client_
	local planner actionlib client More...

actionlib::SimpleActionClient< roborts_msgs::PIDControllerTowardAngularAction >	pid_controller_client_
	pid controller actionlib client More...

roborts_msgs::GlobalPlannerGoal	global_planner_goal_
	global planner actionlib goal More...

roborts_msgs::LocalPlannerGoal	local_planner_goal_
	local planner actionlib goal More...

roborts_msgs::PIDControllerTowardAngularGoal	pid_controller_toward_angular_goal_
	pid controller actionlib goal More...

ros::Publisher	cmd_vel_pub_
	velocity control publisher in ROS More...

geometry_msgs::Twist	zero_twist_
	zero twist in form of ROS geometry_msgs::Twist More...

ros::Publisher	cmd_vel_acc_pub_
	velocity with accel publisher in ROS More...

roborts_msgs::TwistAccel	zero_twist_accel_
	zero twist with acceleration in form of ROS roborts_msgs::TwistAccel More...

uint32_t	error_code_

Member Typedef Documentation

◆ GlobalActionClient

typedef actionlib::SimpleActionClient<roborts_msgs::GlobalPlannerAction> roborts_decision::ChassisExecutor::GlobalActionClient

private

◆ LocalActionClient

typedef actionlib::SimpleActionClient<roborts_msgs::LocalPlannerAction> roborts_decision::ChassisExecutor::LocalActionClient

private

◆ PIDControllerClient

typedef actionlib::SimpleActionClient<roborts_msgs::PIDControllerTowardAngularAction> roborts_decision::ChassisExecutor::PIDControllerClient

private

Member Enumeration Documentation

◆ ExcutionMode

enum roborts_decision::ChassisExecutor::ExcutionMode

strong

Chassis execution mode for different tasks.

Enumerator
IDLE_MODE	Default idle mode with no task.
GOAL_USE_PLANNER_MODE	Goal-targeted task mode using global and local planner.
GOAL_FROM_ODOM_MODE	Goal-targeted task mode using odom data.
SPEED_MODE	Velocity task mode.
SPEED_WITH_ACCEL_MODE	Velocity with acceleration task mode.

◆ GoalMode

enum roborts_decision::ChassisExecutor::GoalMode

strong

Enumerator
GOAL_MODE_USE_GOLBAL_LOCAL_PLANNER
GOAL_MODE_USE_ODOM_DATA

Constructor & Destructor Documentation

◆ ChassisExecutor()

roborts_decision::ChassisExecutor::ChassisExecutor ( const ros::NodeHandle & nh = ros::NodeHandle("~") )

explicit

Constructor of ChassisExecutor.

◆ ~ChassisExecutor()

roborts_decision::ChassisExecutor::~ChassisExecutor ( )

default

Member Function Documentation

◆ Cancel()

void roborts_decision::ChassisExecutor::Cancel ( )

Cancel the current task and deal with the mode transition.

◆ Execute() [1/4]

void roborts_decision::ChassisExecutor::Execute ( const geometry_msgs::PoseStamped & goal )

Execute the goal-targeted task using global and local planner with actionlib.

Parameters

goal	Given target goal

◆ Execute() [2/4]

void roborts_decision::ChassisExecutor::Execute	(	const geometry_msgs::PoseStamped &	goal,
		GoalMode	_goal_mode
	)

Parameters

goal	Given target goal
_goal_mode	Given goal mode

◆ Execute() [3/4]

void roborts_decision::ChassisExecutor::Execute ( const geometry_msgs::Twist & twist )

Execute the velocity task with publisher.

Parameters

twist Given velocity

◆ Execute() [4/4]

void roborts_decision::ChassisExecutor::Execute ( const roborts_msgs::TwistAccel & twist_accel )

Execute the velocity with acceleration task with publisher.

Parameters

twist_accel Given velocity with acceleration

◆ GetErrorCode()

uint32_t roborts_decision::ChassisExecutor::GetErrorCode ( ) const

◆ GlobalPlannerDoneCallback()

void roborts_decision::ChassisExecutor::GlobalPlannerDoneCallback	(	const actionlib::SimpleClientGoalState &	state,
		const roborts_msgs::GlobalPlannerResultConstPtr &	global_planner_result
	)

private

◆ GlobalPlannerFeedbackCallback()

void roborts_decision::ChassisExecutor::GlobalPlannerFeedbackCallback ( const roborts_msgs::GlobalPlannerFeedbackConstPtr & global_planner_feedback )

private

◆ PIDControllerFeedbackCallback()

void roborts_decision::ChassisExecutor::PIDControllerFeedbackCallback ( const roborts_msgs::PIDControllerTowardAngularFeedbackConstPtr & pid_controller_toward_angular_feedback )

private

◆ Update()

BehaviorState roborts_decision::ChassisExecutor::Update ( )

Update the current chassis executor state.

Returns: Current chassis executor state(same with behavior state)

Member Data Documentation

◆ cmd_vel_acc_pub_

ros::Publisher roborts_decision::ChassisExecutor::cmd_vel_acc_pub_

private

velocity with accel publisher in ROS

◆ cmd_vel_pub_

ros::Publisher roborts_decision::ChassisExecutor::cmd_vel_pub_

private

velocity control publisher in ROS

◆ error_code_

uint32_t roborts_decision::ChassisExecutor::error_code_

private

◆ execution_mode_

ExcutionMode roborts_decision::ChassisExecutor::execution_mode_

private

execution mode of the executor

◆ execution_state_

BehaviorState roborts_decision::ChassisExecutor::execution_state_

private

execution state of the executor (same with behavior state)

◆ global_planner_client_

actionlib::SimpleActionClient<roborts_msgs::GlobalPlannerAction> roborts_decision::ChassisExecutor::global_planner_client_

private

global planner actionlib client

◆ global_planner_goal_

roborts_msgs::GlobalPlannerGoal roborts_decision::ChassisExecutor::global_planner_goal_

private

global planner actionlib goal

◆ local_planner_client_

actionlib::SimpleActionClient<roborts_msgs::LocalPlannerAction> roborts_decision::ChassisExecutor::local_planner_client_

private

local planner actionlib client

◆ local_planner_goal_

roborts_msgs::LocalPlannerGoal roborts_decision::ChassisExecutor::local_planner_goal_

private

local planner actionlib goal

◆ nh_

ros::NodeHandle roborts_decision::ChassisExecutor::nh_

private

◆ pid_controller_client_

actionlib::SimpleActionClient<roborts_msgs::PIDControllerTowardAngularAction> roborts_decision::ChassisExecutor::pid_controller_client_

private

pid controller actionlib client

◆ pid_controller_toward_angular_goal_

roborts_msgs::PIDControllerTowardAngularGoal roborts_decision::ChassisExecutor::pid_controller_toward_angular_goal_

private

pid controller actionlib goal

◆ zero_twist_

geometry_msgs::Twist roborts_decision::ChassisExecutor::zero_twist_

private

zero twist in form of ROS geometry_msgs::Twist

◆ zero_twist_accel_

roborts_msgs::TwistAccel roborts_decision::ChassisExecutor::zero_twist_accel_

private

zero twist with acceleration in form of ROS roborts_msgs::TwistAccel

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

src/ICRA-Firefly-RoboRTS/roborts_decision/executor/chassis_executor.h
src/ICRA-Firefly-RoboRTS/roborts_decision/executor/chassis_executor.cpp

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ GlobalActionClient

◆ LocalActionClient

◆ PIDControllerClient

Member Enumeration Documentation

◆ ExcutionMode

◆ GoalMode

Constructor & Destructor Documentation

◆ ChassisExecutor()

◆ ~ChassisExecutor()

Member Function Documentation

◆ Cancel()

◆ Execute() [1/4]

◆ Execute() [2/4]

◆ Execute() [3/4]

◆ Execute() [4/4]

◆ GetErrorCode()

◆ GlobalPlannerDoneCallback()

◆ GlobalPlannerFeedbackCallback()

◆ PIDControllerFeedbackCallback()

◆ Update()

Member Data Documentation

◆ cmd_vel_acc_pub_

◆ cmd_vel_pub_

◆ error_code_

◆ execution_mode_

◆ execution_state_

◆ global_planner_client_

◆ global_planner_goal_

◆ local_planner_client_

◆ local_planner_goal_

◆ nh_

◆ pid_controller_client_

◆ pid_controller_toward_angular_goal_

◆ zero_twist_

◆ zero_twist_accel_