LGD/hand_control
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corrects erros in commande-abs.cpp

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Louis-Guillaume DUBOIS 2015-05-27 19:48:06 +02:00
parent 772c09a0e5
commit 4bcefc51bb
1 changed files with 4 additions and 131 deletions
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135
src/commande-abs.cpp
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@ -71,26 +71,9 @@ class Run
}//end publish
public:
Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity, const float& angle_velocity,
const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
const float& z_minimal_deviation, const float& neutral_alt, const float& theta_minimal_deviation,
const int& min_points_number, const float& up_fact) :
pub(cmd_publisher),
plan_vel(plan_velocity),
angle_vel(angle_velocity);
max_curv(max_curvature),
z_vel(z_velocity),
xx(0),
yy(0),
zz(0),
theta(0),
x_dev_min(x_minimal_deviation),
y_dev_min(y_minimal_deviation),
z_dev_min(z_minimal_deviation),
neutral_z(neutral_alt),
first_msg(true),
min_number(min_points_number),
up_factor(up_fact)
Run(const ros::Publisher& cmd_publisher) :
pub(cmd_publisher)
{}
void callback(const hand_control::Plan::ConstPtr& msg)
{
@ -148,118 +131,8 @@ int main(int argc, char** argv)
ros::init(argc, argv, "commande");
ros::NodeHandle node("commande");
double max_curv(0);
if (node.getParam("max_curv", max_curv))
{
ROS_INFO("max_curv : %f" , max_curv);
} else {
node.setParam("max_curv", 0.08);
node.getParam("max_curv", max_curv);
ROS_INFO("max_curv : %f (default value)", max_curv);
}
double plan_vel(0);
if (node.getParam("plan_vel", plan_vel))
{
ROS_INFO("plan_vel : %f" , plan_vel);
} else {
node.setParam("plan_vel", 0.8);
node.getParam("plan_vel", plan_vel);
ROS_INFO("plan_vel : %f (default value)", plan_vel);
}
double z_vel(0);
if (node.getParam("z_vel", z_vel))
{
ROS_INFO("z_vel : %f" , z_vel);
} else {
node.setParam("z_vel", 0.8);
node.getParam("z_vel", z_vel);
ROS_INFO("z_vel : %f (default value)", z_vel);
}
double angle_vel(0);
if (node.getParam("angle_vel", angle_vel))
{
ROS_INFO("angle_vel : %f" , angle_vel);
} else {
node.setParam("angle_vel", 10);
node.getParam("angle_vel", angle_vel);
ROS_INFO("angle_vel : %f (default value)", angle_vel);
}
int min_number(0);
if (node.getParam("min_number", min_number))
{
ROS_INFO("min_number : %d" , min_number);
} else {
node.setParam("min_number", 500);
node.getParam("min_number", min_number);
ROS_INFO("min_number : %d (default value)", min_number);
}
double x_dev_min(0);
if (node.getParam("x_dev_min", x_dev_min))
{
ROS_INFO("x_dev_min : %f" , x_dev_min);
} else {
node.setParam("x_dev_min", 0.05);
node.getParam("x_dev_min", x_dev_min);
ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
}
double y_dev_min(0);
if (node.getParam("y_dev_min", y_dev_min))
{
ROS_INFO("y_dev_min : %f" , y_dev_min);
} else {
node.setParam("y_dev_min", 0.05);
node.getParam("y_dev_min", y_dev_min);
ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
}
double z_dev_min(0);
if (node.getParam("z_dev_min", z_dev_min))
{
ROS_INFO("z_dev_min : %f" , z_dev_min);
} else {
node.setParam("z_dev_min", 0.1);
node.getParam("z_dev_min", z_dev_min);
ROS_INFO("z_dev_min : %f (default value)", z_dev_min);
}
double th_dev_min(0);
if (node.getParam("th_dev_min", th_dev_min))
{
ROS_INFO("th_dev_min : %f" , th_dev_min);
} else {
node.setParam("th_dev_min", 15);
node.getParam("th_dev_min", th_dev_min);
ROS_INFO("th_dev_min : %f (default value)", th_dev_min);
}
double neutral_z(0);
if (node.getParam("neutral_z", neutral_z))
{
ROS_INFO("neutral_z : %f" , neutral_z);
} else {
node.setParam("neutral_z", 1.5);
node.getParam("neutral_z", neutral_z);
ROS_INFO("neutral_z : %f (default value)", neutral_z);
}
double up_fact(0);
if (node.getParam("up_fact", up_fact))
{
ROS_INFO("up_fact : %f" , up_fact);
} else {
node.setParam("up_fact", 1.5);
node.getParam("up_fact", up_fact);
ROS_INFO("up_fact : %f (default value)", up_fact);
}
ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
Run run(cmd_pub, max_curv, plan_vel, z_vel, angle_vel, x_dev_min, y_dev_min, z_dev_min, th_dev_min, neutral_z, min_number, up_fact);
Run run(cmd_pub);
ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
dynamic_reconfigure::Server<hand_control::CommandeConfig> server;