ExcavationServer Class Reference

Performs excavation sequence after receiving request from the navigation client. More...

Inheritance diagram for ExcavationServer:

Collaboration diagram for ExcavationServer:

Public Types
using	Excavation = lunabot_msgs::action::Excavation
using	GoalHandleExcavation = rclcpp_action::ServerGoalHandle< Excavation >

Public Member Functions
	ExcavationServer ()
	Constructor for the ExcavationServer class. More...

Private Member Functions
rclcpp_action::GoalResponse	handle_goal (const rclcpp_action::GoalUUID &, std::shared_ptr< const Excavation::Goal >)
	Handles goal requests from clients. More...
rclcpp_action::CancelResponse	handle_cancel (const std::shared_ptr< GoalHandleExcavation >)
	Handles cancellation requests from clients. More...
void	handle_accepted (const std::shared_ptr< GoalHandleExcavation > goal_handle)
	Accepts and starts the goal execution. More...
void	execute (const std::shared_ptr< GoalHandleExcavation > goal_handle)
	Executes the Excavation process. More...
void	odometry_callback (const nav_msgs::msg::Odometry::SharedPtr msg)
	Callback for the odometry message. More...
void	excavate ()
	Uses current odometry and compares to goal to navigate the robot to the construction zone. More...
double	normalize_angle (double angle)
	Normalizes an angle to the range [-pi, pi]. More...

Private Attributes
rclcpp_action::Server< Excavation >::SharedPtr	action_server_
rclcpp::Publisher< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_publisher_
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	odometry_subscriber_
rclcpp::TimerBase::SharedPtr	odometry_timer_
rclcpp::TimerBase::SharedPtr	excavation_timer_
rclcpp::Time	previous_time_
bool	success_
bool	goal_active_
bool	alignment_done_
double	current_x_
double	current_y_
double	current_roll_
double	current_pitch_
double	current_yaw_
double	previous_error_
double	error_sum_

Detailed Description

Performs excavation sequence after receiving request from the navigation client.

Member Typedef Documentation

Excavation

using ExcavationServer::Excavation = lunabot_msgs::action::Excavation

GoalHandleExcavation

using ExcavationServer::GoalHandleExcavation = rclcpp_action::ServerGoalHandle<Excavation>

Constructor & Destructor Documentation

ExcavationServer()

ExcavationServer::ExcavationServer ( )

inline

Constructor for the ExcavationServer class.

Member Function Documentation

excavate()

void ExcavationServer::excavate ( )

inlineprivate

Uses current odometry and compares to goal to navigate the robot to the construction zone.

execute()

void ExcavationServer::execute ( const std::shared_ptr< GoalHandleExcavation >  goal_handle )

inlineprivate

Executes the Excavation process.

Parameters

goal_handle

Handle for the current goal.

handle_accepted()

void ExcavationServer::handle_accepted ( const std::shared_ptr< GoalHandleExcavation >  goal_handle )

inlineprivate

Accepts and starts the goal execution.

Parameters

goal_handle

Handle for the current goal.

handle_cancel()

rclcpp_action::CancelResponse ExcavationServer::handle_cancel ( const std::shared_ptr< GoalHandleExcavation >  )

inlineprivate

Handles cancellation requests from clients.

Returns

Cancel response (accept or reject).

handle_goal()

rclcpp_action::GoalResponse ExcavationServer::handle_goal ( const rclcpp_action::GoalUUID &  , std::shared_ptr< const Excavation::Goal >    )

inlineprivate

Handles goal requests from clients.

Returns

Goal response (accept or reject).

normalize_angle()

double ExcavationServer::normalize_angle ( double  angle )

inlineprivate

Normalizes an angle to the range [-pi, pi].

Parameters

angle

The angle to normalize.

Returns

Normalized angle.

odometry_callback()

void ExcavationServer::odometry_callback ( const nav_msgs::msg::Odometry::SharedPtr  msg )

inlineprivate

Callback for the odometry message.

Parameters

msg	The odometry message.

Member Data Documentation

action_server_

rclcpp_action::Server<Excavation>::SharedPtr ExcavationServer::action_server_

private

alignment_done_

bool ExcavationServer::alignment_done_

private

cmd_vel_publisher_

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr ExcavationServer::cmd_vel_publisher_

private

current_pitch_

double ExcavationServer::current_pitch_

private

current_roll_

double ExcavationServer::current_roll_

private

current_x_

double ExcavationServer::current_x_

private

current_y_

double ExcavationServer::current_y_

private

current_yaw_

double ExcavationServer::current_yaw_

private

error_sum_

double ExcavationServer::error_sum_

private

excavation_timer_

rclcpp::TimerBase::SharedPtr ExcavationServer::excavation_timer_

private

goal_active_

bool ExcavationServer::goal_active_

private

odometry_subscriber_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr ExcavationServer::odometry_subscriber_

private

odometry_timer_

rclcpp::TimerBase::SharedPtr ExcavationServer::odometry_timer_

private

previous_error_

double ExcavationServer::previous_error_

private

previous_time_

rclcpp::Time ExcavationServer::previous_time_

private

success_

bool ExcavationServer::success_

private

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

• /home/grayson/dev_ws/src/lunabot_ros/lunabot_nav/src/excavation_server.cpp