diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e61d8b00288abfd1dd95e3de9c09614b04dc15b..4ff38c947f646d5d3f80bb1e51d0c6173121a226 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -93,7 +93,7 @@ generate_dynamic_reconfigure_options(
cfg/NavModule.cfg
cfg/TTSModule.cfg
cfg/ArmModule.cfg
- cfg/MoveBaseModule.cfg
+ cfg/MovePlatformModule.cfg
)
###################################
@@ -107,7 +107,7 @@ generate_dynamic_reconfigure_options(
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
- LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module arm_module move_base_module
+ LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module arm_module move_platform_module
CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs
# DEPENDS system_lib
@@ -230,19 +230,19 @@ target_link_libraries(arm_module ${iriutils_LIBRARY})
add_dependencies(arm_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ library
-add_library(move_base_module
- src/move_base_module.cpp
+add_library(move_platform_module
+ src/move_platform_module.cpp
)
-target_link_libraries(move_base_module ${catkin_LIBRARIES})
-target_link_libraries(move_base_module ${iriutils_LIBRARY})
+target_link_libraries(move_platform_module ${catkin_LIBRARIES})
+target_link_libraries(move_platform_module ${iriutils_LIBRARY})
##Link to other modules
##target_link_libraries(new_module <module path>/lib<module_name>.so)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
-add_dependencies(move_base_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(move_platform_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
diff --git a/cfg/MoveBaseModule.cfg b/cfg/MoveBaseModule.cfg
index 78a95c763ffd530003561082a50051a8ed347c86..715aa25f9ec73fa8c1c2cc56b3c31260d7d8c91d 100755
--- a/cfg/MoveBaseModule.cfg
+++ b/cfg/MoveBaseModule.cfg
@@ -31,7 +31,7 @@
# Author:
-PACKAGE='move_base_module'
+PACKAGE='move_platform_module'
from dynamic_reconfigure.parameter_generator_catkin import *
@@ -39,10 +39,10 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
-gen.add("rate_hz", double_t, 0, "Move base module rate in Hz", 1.0, 1.0, 100.0)
+gen.add("rate_hz", double_t, 0, "Move platform module rate in Hz", 1.0, 1.0, 100.0)
gen.add("cmd_vel_rate_hz", double_t, 0, "Cmd vel publish rate in Hz", 10.0, 1.0, 100.0)
gen.add("distance_tol", double_t, 0, "Tolerancec for the distance", 0.05, 0.001, 0.5)
gen.add("velocity", double_t, 0, "Velocity", 0.2, 0.1, 0.8)
-exit(gen.generate(PACKAGE, "MoveBaseModuleAlgorithm", "MoveBaseModule"))
+exit(gen.generate(PACKAGE, "MovePlatformModuleAlgorithm", "MovePlatformModule"))
diff --git a/include/tiago_modules/move_base_module.h b/include/tiago_modules/move_base_module.h
index f542fdca667d4c7ec25c568d2b5bd998737cf46b..1873bdf93a110f4b2b61060902b90f472a288966 100644
--- a/include/tiago_modules/move_base_module.h
+++ b/include/tiago_modules/move_base_module.h
@@ -1,10 +1,10 @@
-#ifndef _MOVE_BASE_MODULE_H
-#define _MOVE_BASE_MODULE_H
+#ifndef _MOVE_PLATFORM_MODULE_H
+#define _MOVE_PLATFORM_MODULE_H
#include <iri_ros_tools/module.h>
#include <iri_ros_tools/module_action.h>
-#include <tiago_modules/MoveBaseModuleConfig.h>
+#include <tiago_modules/MovePlatformModuleConfig.h>
//Action
#include <moveit_msgs/MoveGroupAction.h>
@@ -20,19 +20,19 @@
#include <geometry_msgs/Pose.h>
//States
-typedef enum {MOVE_BASE_MODULE_IDLE, MOVE_BASE_MODULE_START, MOVE_BASE_MODULE_WAIT} move_base_module_state_t;
+typedef enum {MOVE_PLATFORM_MODULE_IDLE, MOVE_PLATFORM_MODULE_START, MOVE_PLATFORM_MODULE_WAIT} move_platform_module_state_t;
//Status
-typedef enum {MOVE_BASE_MODULE_RUNNING,
- MOVE_BASE_MODULE_SUCCESS,
- MOVE_BASE_MODULE_STOPPED} move_base_module_status_t;
+typedef enum {MOVE_PLATFORM_MODULE_RUNNING,
+ MOVE_PLATFORM_MODULE_SUCCESS,
+ MOVE_PLATFORM_MODULE_STOPPED} move_platform_module_status_t;
-class CMoveBaseModule : public CModule<move_base_module::MoveBaseModuleConfig>
+class CMovePlatformModule : public CModule<move_platform_module::MovePlatformModuleConfig>
{
private:
- move_base_module::MoveBaseModuleConfig config;
+ move_platform_module::MovePlatformModuleConfig config;
// odometry
CROSWatchdog joint_states_watchdog;
@@ -42,8 +42,8 @@ class CMoveBaseModule : public CModule<move_base_module::MoveBaseModuleConfig>
void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
//Variables
- move_base_module_state_t state;
- move_base_module_status_t status;
+ move_platform_module_state_t state;
+ move_platform_module_status_t status;
bool new_position;
bool cancel_pending;
@@ -59,19 +59,19 @@ class CMoveBaseModule : public CModule<move_base_module::MoveBaseModuleConfig>
protected:
void state_machine(void);
- void reconfigure_callback(move_base_module::MoveBaseModuleConfig &config, uint32_t level);
+ void reconfigure_callback(move_platform_module::MovePlatformModuleConfig &config, uint32_t level);
void cmd_vel_pub(const ros::TimerEvent& event);
public:
- CMoveBaseModule(const std::string &name,const std::string &name_space=std::string(""));
+ CMovePlatformModule(const std::string &name,const std::string &name_space=std::string(""));
// general functions
- void move_base(double distance);
+ void move_platform(double distance);
void get_current_pose(geometry_msgs::PoseStamped &pose);
void stop(void);
bool is_finished(void);
- move_base_module_status_t get_status(void);
+ move_platform_module_status_t get_status(void);
- ~CMoveBaseModule();
+ ~CMovePlatformModule();
};
#endif
diff --git a/src/move_base_module.cpp b/src/move_base_module.cpp
index 0bf0b9b5cb56b74f9cbb620439e72bfc448aae87..388bacbe5dffde918f9d55c2086fe55e674f4956 100644
--- a/src/move_base_module.cpp
+++ b/src/move_base_module.cpp
@@ -1,14 +1,14 @@
-#include <tiago_modules/move_base_module.h>
+#include <tiago_modules/move_platform_module.h>
-CMoveBaseModule::CMoveBaseModule(const std::string &name,const std::string &name_space) : CModule(name,name_space)
+CMovePlatformModule::CMovePlatformModule(const std::string &name,const std::string &name_space) : CModule(name,name_space)
{
this->start_operation();
// initialize odometry subscriber
- this->odom_subscriber = this->module_nh.subscribe("/mobile_base_controller/odom",1,&CMoveBaseModule::odom_callback,this);
+ this->odom_subscriber = this->module_nh.subscribe("/mobile_base_controller/odom",1,&CMovePlatformModule::odom_callback,this);
//Variables
- this->state=MOVE_BASE_MODULE_IDLE;
- this->status=MOVE_BASE_MODULE_SUCCESS;
+ this->state=MOVE_PLATFORM_MODULE_IDLE;
+ this->status=MOVE_PLATFORM_MODULE_SUCCESS;
this->new_position=false;
this->cancel_pending=false;
this->target_achieved=false;
@@ -23,57 +23,57 @@ CMoveBaseModule::CMoveBaseModule(const std::string &name,const std::string &name
this->cmd_vel_goal.angular.x=0.0;
this->cmd_vel_goal.angular.y=0.0;
this->cmd_vel_goal.angular.z=0.0;
- this->cmd_vel_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.cmd_vel_rate_hz),&CMoveBaseModule::cmd_vel_pub,this);
+ this->cmd_vel_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.cmd_vel_rate_hz),&CMovePlatformModule::cmd_vel_pub,this);
this->cmd_vel_timer.stop();
}
/* State machine */
-void CMoveBaseModule::state_machine(void)
+void CMovePlatformModule::state_machine(void)
{
switch(this->state)
{
- case MOVE_BASE_MODULE_IDLE: ROS_DEBUG("CMoveBaseModule: Idle");
+ case MOVE_PLATFORM_MODULE_IDLE: ROS_DEBUG("CMovePlatformModule: Idle");
if(this->new_position)
{
this->new_position=false;
- this->state=MOVE_BASE_MODULE_START;
+ this->state=MOVE_PLATFORM_MODULE_START;
}
else
- this->state=MOVE_BASE_MODULE_IDLE;
+ this->state=MOVE_PLATFORM_MODULE_IDLE;
break;
- case MOVE_BASE_MODULE_START: ROS_DEBUG("CMoveBaseModule: Start");
+ case MOVE_PLATFORM_MODULE_START: ROS_DEBUG("CMovePlatformModule: Start");
this->cmd_vel_timer.start();
- this->state=MOVE_BASE_MODULE_WAIT;
+ this->state=MOVE_PLATFORM_MODULE_WAIT;
break;
- case MOVE_BASE_MODULE_WAIT: ROS_DEBUG("CMoveBaseModule: Move base");
+ case MOVE_PLATFORM_MODULE_WAIT: ROS_DEBUG("CMovePlatformModule: Move platform");
if(this->target_achieved)
{
this->cmd_vel_timer.stop();
this->target_achieved=false;
- this->state=MOVE_BASE_MODULE_IDLE;
- this->status=MOVE_BASE_MODULE_SUCCESS;
+ this->state=MOVE_PLATFORM_MODULE_IDLE;
+ this->status=MOVE_PLATFORM_MODULE_SUCCESS;
}
else if(this->cancel_pending)
{
this->cmd_vel_timer.stop();
this->cancel_pending=false;
- this->state=MOVE_BASE_MODULE_IDLE;
- this->status=MOVE_BASE_MODULE_STOPPED;
+ this->state=MOVE_PLATFORM_MODULE_IDLE;
+ this->status=MOVE_PLATFORM_MODULE_STOPPED;
}
else
{
- this->state=MOVE_BASE_MODULE_WAIT;
+ this->state=MOVE_PLATFORM_MODULE_WAIT;
}
break;
}
}
-void CMoveBaseModule::reconfigure_callback(move_base_module::MoveBaseModuleConfig &config, uint32_t level)
+void CMovePlatformModule::reconfigure_callback(move_platform_module::MovePlatformModuleConfig &config, uint32_t level)
{
- ROS_DEBUG("CMoveBaseModule : reconfigure callback");
+ ROS_DEBUG("CMovePlatformModule : reconfigure callback");
this->lock();
this->config=config;
/* set the module rate */
@@ -85,9 +85,9 @@ void CMoveBaseModule::reconfigure_callback(move_base_module::MoveBaseModuleConfi
this->unlock();
}
-void CMoveBaseModule::odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
+void CMovePlatformModule::odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
{
- ROS_DEBUG("CMoveBaseModule: Odometry callback");
+ ROS_DEBUG("CMovePlatformModule: Odometry callback");
double init_odom_rot;
double difference;
@@ -96,7 +96,7 @@ void CMoveBaseModule::odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
{
this->target_odom.pose.pose.position.x = msg->pose.pose.position.x + this->target;
}
- else if(this->state!=MOVE_BASE_MODULE_IDLE)
+ else if(this->state!=MOVE_PLATFORM_MODULE_IDLE)
{
difference = std::abs(this->target_odom.pose.pose.position.x - msg->pose.pose.position.x);
if(difference < this->distance_tol)
@@ -107,14 +107,14 @@ void CMoveBaseModule::odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
this->unlock();
}
-void CMoveBaseModule::cmd_vel_pub(const ros::TimerEvent& event)
+void CMovePlatformModule::cmd_vel_pub(const ros::TimerEvent& event)
{
- ROS_DEBUG("CMoveBaseModule: Cmd_vel pusblish");
+ ROS_DEBUG("CMovePlatformModule: Cmd_vel pusblish");
this->cmd_vel_publisher.publish(this->cmd_vel_goal);
}
// pose motion
-void CMoveBaseModule::move_base(double distance)
+void CMovePlatformModule::move_platform(double distance)
{
this->lock();
if(!this->is_finished())
@@ -128,25 +128,25 @@ void CMoveBaseModule::move_base(double distance)
this->unlock();
}
-void CMoveBaseModule::stop(void)
+void CMovePlatformModule::stop(void)
{
- if(this->state!=MOVE_BASE_MODULE_IDLE)
+ if(this->state!=MOVE_PLATFORM_MODULE_IDLE)
this->cancel_pending=true;
}
-bool CMoveBaseModule::is_finished(void)
+bool CMovePlatformModule::is_finished(void)
{
- if(this->state==MOVE_BASE_MODULE_IDLE && this->new_position==false)
+ if(this->state==MOVE_PLATFORM_MODULE_IDLE && this->new_position==false)
return true;
else
return false;
}
-move_base_module_status_t CMoveBaseModule::get_status(void)
+move_platform_module_status_t CMovePlatformModule::get_status(void)
{
return this->status;
}
-CMoveBaseModule::~CMoveBaseModule()
+CMovePlatformModule::~CMovePlatformModule()
{
}