#include "ros/ros.h"
#include "tf/tf.h"
#include "leader_follower.h"

Include dependency graph for leader_follower.cpp:

Functions
void	dyn_objects_callback (const trajectory_simulator::TrajectoryObservation::ConstPtr &dyn_objects)

void	leader_goal_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)

int	main (int argc, char **argv)

void	robot_goal_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)

void	robot_pose_callback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)

void	target_pose_callback (const nav_msgs::Odometry::ConstPtr &msg)

Macro Definition Documentation

#define DEG2RAD 0.01745

Definition at line 31 of file leader_follower.cpp.

Function Documentation

void dyn_objects_callback ( const trajectory_simulator::TrajectoryObservation::ConstPtr & dyn_objects )

received a dynamic object, store as candidate

check if received message refers to leader and if the robot should start following it, if so, track its path

store path according to time step

only executes on first message

simple following part

Definition at line 56 of file leader_follower.cpp.

void leader_goal_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

Definition at line 169 of file leader_follower.cpp.

compute distance from ROBOT to its goal

compute distance from LEADER to its goal (after leader has been found)

leader selection criteria, distance between goals

artificial leader selection

check if it is a new leader

can sending goals

set subgoal as first path position as goal

publish subgoal to RiskRRT

distance from robot to subgoal

check subgoal success and erase first list element of path

Definition at line 191 of file leader_follower.cpp.

void robot_goal_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

Definition at line 177 of file leader_follower.cpp.

void robot_pose_callback ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg )

Definition at line 184 of file leader_follower.cpp.

void target_pose_callback ( const nav_msgs::Odometry::ConstPtr & msg )

Definition at line 39 of file leader_follower.cpp.