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<div class="title">controller_turtlebot.py</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">#!/usr/bin/env python</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"># ROS imports</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="keyword">import</span> roslib; roslib.load_manifest(<span class="stringliteral">'control_turtlebot'</span>)</div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="keyword">import</span> rospy</div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="keyword">import</span> tf</div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">import</span> math</div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">#ROS messages</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="keyword">from</span> geometry_msgs.msg <span class="keyword">import</span> Twist</div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">from</span> nav_msgs.msg <span class="keyword">import</span> Odometry</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">from</span> control_turtlebot.srv <span class="keyword">import</span> GotoWaypoint, GotoWaypointResponse, FindPathToGoal, FindPathToGoalResponse, FindPathToGoalRequest</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">#Numpy</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">import</span> numpy <span class="keyword">as</span> np</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classcontroller__turtlebot_1_1_controller.html"> 17</a></span> <span class="keyword">class </span><a class="code" href="classcontroller__turtlebot_1_1_controller.html">Controller</a>(object):</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">def </span>__init__(self):</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a9e702405a4656f2c92c1f97a6eaf1d3a">odometry_sub_</a> = rospy.Subscriber(<span class="stringliteral">"/odom"</span>, Odometry, self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a9522fd0d11ee80005358d87b4ff21abf">odomCallback</a>, queue_size = 1)</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#ab12ce083c79ed96b9b88be1512151f8a">control_input_pub_</a> = rospy.Publisher(<span class="stringliteral">"/mobile_base/commands/velocity"</span>, Twist, queue_size = 1)</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  self.<a class="code" href="classcontroller__turtlebot_1_1_controller.html#a681d2bac83a17a99f39b9373d68cbd5a">serv_</a> = rospy.Service(<span class="stringliteral">'/controller_turtlebot/goto'</span>, </div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  GotoWaypoint, </div><div class="line"><a name="l00025"></a><span cl
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a754aa2cb96df9af354b261018c2cf522"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a754aa2cb96df9af354b261018c2cf522">controller_turtlebot.Controller.desired_orientation_</a></div><div class="ttdeci">desired_orientation_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00031">controller_turtlebot.py:31</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a31c05f384a06d2e7944fb2a22a55ce43"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a31c05f384a06d2e7944fb2a22a55ce43">controller_turtlebot.Controller.desired_position_</a></div><div class="ttdeci">desired_position_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00030">controller_turtlebot.py:30</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_ac9457ad2cf1576f835254b43bc9d54bb"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#ac9457ad2cf1576f835254b43bc9d54bb">controller_turtlebot.Controller.calculateControlInput</a></div><div class="ttdeci">def calculateControlInput(self, req)</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00042">controller_turtlebot.py:42</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00017">controller_turtlebot.py:17</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_aafc74f6b296182f2e746168cf818caab"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#aafc74f6b296182f2e746168cf818caab">controller_turtlebot.Controller.current_position_</a></div><div class="ttdeci">current_position_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00027">controller_turtlebot.py:27</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a681d2bac83a17a99f39b9373d68cbd5a"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a681d2bac83a17a99f39b9373d68cbd5a">controller_turtlebot.Controller.serv_</a></div><div class="ttdeci">serv_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00023">controller_turtlebot.py:23</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a73aee3d84665839e3c25bd8e1406d39a"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a73aee3d84665839e3c25bd8e1406d39a">controller_turtlebot.Controller.current_orientation_</a></div><div class="ttdeci">current_orientation_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00028">controller_turtlebot.py:28</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_a9522fd0d11ee80005358d87b4ff21abf"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#a9522fd0d11ee80005358d87b4ff21abf">controller_turtlebot.Controller.odomCallback</a></div><div class="ttdeci">def odomCallback(self, odometry_msg)</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00111">controller_turtlebot.py:111</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_ae68c08350d90bdf8ab82a58b9ab2c532"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#ae68c08350d90bdf8ab82a58b9ab2c532">controller_turtlebot.Controller.find_path_to_goal_serv_</a></div><div class="ttdeci">find_path_to_goal_serv_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00036">controller_turtlebot.py:36</a></div></div>
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<div class="ttc" id="classcontroller__turtlebot_1_1_controller_html_ab12ce083c79ed96b9b88be1512151f8a"><div class="ttname"><a href="classcontroller__turtlebot_1_1_controller.html#ab12ce083c79ed96b9b88be1512151f8a">controller_turtlebot.Controller.control_input_pub_</a></div><div class="ttdeci">control_input_pub_</div><div class="ttdef"><b>Definition:</b> <a href="controller__turtlebot_8py_source.html#l00021">controller_turtlebot.py:21</a></div></div>
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<li class="navelem"><a class="el" href="dir_a2ed51f7c7095589dc0c78a28547d1d4.html">Source Files</a></li><li class="navelem"><a class="el" href="dir_50758af9fa44b143c39a433e879132a5.html">mapping_planning_tutorial</a></li><li class="navelem"><a class="el" href="dir_2b04689da8f92abcb133442f492c8f6b.html">control_turtlebot</a></li><li class="navelem"><a class="el" href="dir_5fee08efe95e6d722a092087df25e95a.html">src</a></li><li class="navelem"><b>controller_turtlebot.py</b></li>
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