Package edu.tufts.hrilab.movebase

Class MoveBase

java.lang.Object

edu.tufts.hrilab.movebase.MoveBase

public class MoveBase
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
protected static org.slf4j.Logger	log

Constructor Summary

Constructors

Constructor	Description
MoveBase(RosConfiguration rc, String mapFrame, String baseFrame)	Constructor.

Method Summary

Modifier and Type	Method	Description
edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose	getPose()	Get robot's current pose.
Justification	goToLocation(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose pose, boolean wait)	Go to a pose in the world.
Justification	isMoving()	Is robot currently moving.
Justification	stop()	Stop the robot, and cancel any move base goals.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

log

protected static org.slf4j.Logger log

Constructor Details

MoveBase

public MoveBase(RosConfiguration rc,
 String mapFrame,
 String baseFrame)

Constructor.

Parameters:

rc -

mapFrame -

baseFrame -

Method Details

getPose

public edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose getPose()

Get robot's current pose.

Returns:

goToLocation

public Justification goToLocation(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose pose,
 boolean wait)

Go to a pose in the world.

Parameters:

pose - a goal pose

stop

public Justification stop()

Stop the robot, and cancel any move base goals.

Returns:

isMoving

public Justification isMoving()

Is robot currently moving.

Returns: