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SecurBot
0.1
A cutting edge robotic security platform
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Classes | |
| class | Status |
Functions | |
| def | waypointToPixelPoseStamped (waypointObject) |
| Format Waypoint to Pixel PoseStamped. More... | |
| def | pixelPoseStampedToRealPoseStamped (pixelPoseStamped) |
| Publish Pixel PoseStamped to map_image_generator to format it into Real PoseStamped. More... | |
| def | realPoseStampedReceiverCallback (realPoseStamped) |
| Callback funtion receiving processed waypoint from map_image. More... | |
| def | startPatrolNavigation () |
| This function starts sending the different waypoint that were converted in the list. More... | |
| def | waypointsListReceiverCallback (waypointsJsonStr) |
| Callback funtion that handles the reception of new patrol plans. More... | |
| def | interruptReceiverCallback (interruptJsonStr) |
| Interprets interruption requests. More... | |
| def | getStatusString (uInt8Status) |
| Returns status as a string, used primarly for debugging purposes. More... | |
| def | publishPatrolFeedBack (patrolId, status, acheivedWaypointCount, plannedWaypointCount) |
| Publishes the advancement of a patrol. More... | |
| def | sendGoalDoneCallback (terminalState, result) |
| Callback function called when an action sent to move_base is done. More... | |
| def | patrolExecutive () |
| Main function starting the Patrol Executive Node. More... | |
Variables | |
| int | PIXEL_POSESTAMPED_INDEX = 1 |
| int | REAL_POSESTAMPED_INDEX = 2 |
| actionClient = actionlib.SimpleActionClient('move_base', MoveBaseAction) | |
| list | waypointsPatrolList = [] |
| int | currentWaypointIndex = 0 |
| bool | isLooped = False |
| string | patrolId = "" |
| toMapImageGenerator = rospy.Publisher("toMapImageGenerator", PoseStamped, queue_size=20) | |
| toElectron = rospy.Publisher("toElectron", String, queue_size=20) | |
| def patrolExecutive.getStatusString | ( | uInt8Status | ) |
Returns status as a string, used primarly for debugging purposes.
| uInt8Status | move_base status code |
| def patrolExecutive.interruptReceiverCallback | ( | interruptJsonStr | ) |
Interprets interruption requests.
Will stop patrol and send confirmation if patrol plan is stopped.
| interruptJsonStr | The ROS message containing the JSON string with the interrupt message. |
| def patrolExecutive.patrolExecutive | ( | ) |
Main function starting the Patrol Executive Node.
Subcription to three topics are made : fromMapimageGenerator, fromElectronWaypoints, fromElectronInterrupt.
| def patrolExecutive.pixelPoseStampedToRealPoseStamped | ( | pixelPoseStamped | ) |
Publish Pixel PoseStamped to map_image_generator to format it into Real PoseStamped.
| pixelPoseStamped | The waypoint relative to the screen input |
| def patrolExecutive.publishPatrolFeedBack | ( | patrolId, | |
| status, | |||
| acheivedWaypointCount, | |||
| plannedWaypointCount | |||
| ) |
Publishes the advancement of a patrol.
| patrolId | The unique id of the patrol in string representation |
| status | String representation of the event to report |
| acheivedWaypointCount | Number of waypoints that have succesfully been reached |
| plannedWaypointCount | Number of waypoints in the current patrol |
| def patrolExecutive.realPoseStampedReceiverCallback | ( | realPoseStamped | ) |
Callback funtion receiving processed waypoint from map_image.
| realPoseStamped | The processed waypoint in dimesions relative to RTAB-MAP |
| def patrolExecutive.sendGoalDoneCallback | ( | terminalState, | |
| result | |||
| ) |
Callback function called when an action sent to move_base is done.
| terminalState | The state of the action (ie: SUCCEEDED / ABORTED) |
| result |
| def patrolExecutive.startPatrolNavigation | ( | ) |
This function starts sending the different waypoint that were converted in the list.
| def patrolExecutive.waypointsListReceiverCallback | ( | waypointsJsonStr | ) |
Callback funtion that handles the reception of new patrol plans.
This function will decode incoming JSON message and convert the waypoints for them to be sent to move_base sequentially.
| waypointsJsonStr | The patrol plan in JSON representation |
| def patrolExecutive.waypointToPixelPoseStamped | ( | waypointObject | ) |
Format Waypoint to Pixel PoseStamped.
| waypointObject | The waypoint in dictionnary form from the JSON object |
| patrolExecutive.actionClient = actionlib.SimpleActionClient('move_base', MoveBaseAction) |
| int patrolExecutive.currentWaypointIndex = 0 |
| bool patrolExecutive.isLooped = False |
| string patrolExecutive.patrolId = "" |
| int patrolExecutive.PIXEL_POSESTAMPED_INDEX = 1 |
| int patrolExecutive.REAL_POSESTAMPED_INDEX = 2 |
| patrolExecutive.toElectron = rospy.Publisher("toElectron", String, queue_size=20) |
| patrolExecutive.toMapImageGenerator = rospy.Publisher("toMapImageGenerator", PoseStamped, queue_size=20) |
| list patrolExecutive.waypointsPatrolList = [] |
1.8.11
