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Commit d3393434 authored by Irene Garcia Camacho's avatar Irene Garcia Camacho
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Changed name from "move base module" to "move platform module"

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CMakeLists.txt
+ 7
− 7
View file @ d3393434
......@@ -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
......
cfg/MoveBaseModule.cfg
+ 3
− 3
View file @ d3393434
......@@ -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"))
include/tiago_modules/move_base_module.h
+ 16
− 16
View file @ d3393434
#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
src/move_base_module.cpp
+ 32
− 32
View file @ d3393434
#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()
{
}
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