rt2_robot_logic.cpp File Reference

Robotics control in a simulated environment. More...

#include <iostream>
#include <string>
#include <chrono>
#include <ctime>
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "sensor_msgs/LaserScan.h"
#include "actionlib_msgs/GoalID.h"
#include "move_base_msgs/MoveBaseActionGoal.h"
#include "move_base_msgs/MoveBaseActionFeedback.h"

Include dependency graph for rt2_robot_logic.cpp:

Macros
#define	DIST   0.35
	Minimum distance from the wall with the driving assistance enabled.
#define	POS_ERROR   0.5
	Position range error.
#define	MAX_TIME   120000000
	Maximum time to reach a goal (microseconds)

Functions
void	drivingAssistance (const sensor_msgs::LaserScan::ConstPtr &msg)
	Checks data from robot's laser scanner and, if the driving assistance is enabled, help the user not to crush the robot against a wall. More...
void	currentStatus (const move_base_msgs::MoveBaseActionFeedback::ConstPtr &msg)
	Checks if the robot is on the goal position and, when there is a new goal, update the current Goal ID and save it in a global variable. More...
void	currentGoal (const move_base_msgs::MoveBaseActionGoal::ConstPtr &msg)
	Checks the current goal position and saves its coordinates x and y in two global variables. More...
int	main (int argc, char **argv)
	Initializes the node and starts the logic of the robot. More...

Variables
ros::Publisher	pub_canc
	Publishes to /move_base/cancel.
ros::Publisher	pub_vel
	Publishes to /cmd_vel.
float	x_goal
	Current goal coordinate x.
float	y_goal
	Current goal coordinate y.
int	reached_goal = 0
	Number of reached goals.
int	non_reached_goal = 0
	Number of not reached goals.
std::string	id = ""
	Goal ID.
std::chrono::high_resolution_clock::time_point	t_start
	Starting time goal reaching.
std::chrono::high_resolution_clock::time_point	t_end
	Ending time goal reaching.

Detailed Description

Robotics control in a simulated environment.

Author

Simone Contorno (simon.nosp@m.e.co.nosp@m.ntorn.nosp@m.o@ou.nosp@m.tlook.nosp@m..it)

Version

1.0

Date

2022-03-25

Copyright

Copyright (c) 2022

Server parameters:

Parameters

key_flag	defines the type of keyboard input inserted by the user (output).
drive_flag	defines if the manual driving assistance is enabled or not (output).
goal_flag	defines if a goal is set or not (input & output).
print_flag	defines if the warning sentence, about a wall too close to the robot, has been printed or not (input & output).

Publishers to:
/move_base/cancel
/cmd_vel

Subscribers to:
/move_base/feedback
/move_base/goal
/scan

Description:
This node simulates the 'logic' of the robot.
Managing publishers, subscribers and server parameters it is able to avoid the crashing of the robot against a wall, if asked by the user, and register how many targets it reached and how many not.
A target is considered 'not reached' when the robot does not reach it within 2 minutes, then the goal is cancelled.

Function Documentation

currentGoal()

void currentGoal

(

const move_base_msgs::MoveBaseActionGoal::ConstPtr &

msg

)

Checks the current goal position and saves its coordinates x and y in two global variables.

Parameters

msg	defines the goal position values.

currentStatus()

void currentStatus

(

const move_base_msgs::MoveBaseActionFeedback::ConstPtr &

msg

)

Checks if the robot is on the goal position and, when there is a new goal, update the current Goal ID and save it in a global variable.

Parameters

msg	defines the robot position values.

drivingAssistance()

void drivingAssistance

(

const sensor_msgs::LaserScan::ConstPtr &

msg

)

Checks data from robot's laser scanner and, if the driving assistance is enabled, help the user not to crush the robot against a wall.

Parameters

msg	defines the laser scanner values.

main()

int main	(	int	argc,
		char **	argv
	)

Initializes the node and starts the logic of the robot.

Parameters

argc
argv

Returns

int

Subscriber on /move_base/feedback

Subscriber on /move_base/goal

Subscriber on /scan