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Provide ability to programmatically change the pose of a robot. #39

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Provide ability to programmatically change the pose of a robot. #39

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11530f3
Added ability to programatically change robot pose.
kleinma Nov 11, 2016
74eb61c
Changed pose to cmd_pose to show command intent.
kleinma Nov 11, 2016
cfeb05c
Added ability to programatically change robot pose
kleinma Sep 24, 2018
f5b16b3
Changed pose to cmd_pose to show command intent
kleinma Sep 24, 2018
b074971
Merge branch 'lunar-devel' of https://github.com/ros-simulation/stage…
kleinma Sep 24, 2018
5d02ddd
Merge with master
kleinma Jan 1, 2019
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19 changes: 19 additions & 0 deletions src/stageros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <rosgraph_msgs/Clock.h>
#include <geometry_msgs/Pose2D.h>

#include <std_srvs/Empty.h>

Expand All @@ -62,6 +63,7 @@
#define BASE_SCAN "base_scan"
#define BASE_POSE_GROUND_TRUTH "base_pose_ground_truth"
#define CMD_VEL "cmd_vel"
#define CMD_POSE "cmd_pose"

// Our node
class StageNode
Expand Down Expand Up @@ -97,6 +99,7 @@ class StageNode
std::vector<ros::Publisher> laser_pubs; //multiple lasers

ros::Subscriber cmdvel_sub; //one cmd_vel subscriber
ros::Subscriber cmdpose_sub; //one pos subscriber
};

std::vector<StageRobot const *> robotmodels_;
Expand Down Expand Up @@ -162,6 +165,9 @@ class StageNode
// Message callback for a MsgBaseVel message, which set velocities.
void cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist const>& msg);

// Message callback for a Pose2D message, which sets pose.
void cmdposeReceived(int idx, const boost::shared_ptr<geometry_msgs::Pose2D const>& msg);

// Service callback for soft reset
bool cb_reset_srv(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

Expand Down Expand Up @@ -271,6 +277,18 @@ StageNode::cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist
this->base_last_cmd = this->sim_time;
}

void
StageNode::cmdposeReceived(int idx, const boost::shared_ptr<geometry_msgs::Pose2D const>& msg)
{
boost::mutex::scoped_lock lock(msg_lock);
Stg::Pose pose;
pose.x = msg->x;
pose.y = msg->y;
pose.z =0;
pose.a = msg->theta;
this->positionmodels[idx]->SetPose(pose);
}

StageNode::StageNode(int argc, char** argv, bool gui, const char* fname, bool use_model_names)
{
this->use_model_names = use_model_names;
Expand Down Expand Up @@ -363,6 +381,7 @@ StageNode::SubscribeModels()
new_robot->odom_pub = n_.advertise<nav_msgs::Odometry>(mapName(ODOM, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
new_robot->ground_truth_pub = n_.advertise<nav_msgs::Odometry>(mapName(BASE_POSE_GROUND_TRUTH, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
new_robot->cmdvel_sub = n_.subscribe<geometry_msgs::Twist>(mapName(CMD_VEL, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdvelReceived, this, r, _1));
new_robot->cmdpose_sub = n_.subscribe<geometry_msgs::Pose2D>(mapName(CMD_POSE, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdposeReceived, this, r, _1));

for (size_t s = 0; s < new_robot->lasermodels.size(); ++s)
{
Expand Down