35 geometry_msgs::Twist t = *msg;
45 pub_vel_ =
n_.advertise<geometry_msgs::Twist>(
"/cmd_vel", 1);
49 double front, rear, left, right, tolerance;
50 n_.param(
"footprint/left", left, 0.309);
51 n_.param(
"footprint/right", right, -0.309);
52 n_.param(
"footprint/front", front, 0.43);
53 n_.param(
"footprint/rear", rear, -0.43);
54 n_.param(
"footprint/tolerance", tolerance, 0.0);
58 int main(
int argc,
char *argv[])
60 ros::init(argc, argv,
"speed_filter");
BaseDistance dist_control_
void input_vel(const geometry_msgs::Twist::ConstPtr &msg)
void setFootprint(double front, double rear, double left, double right, double tolerance)
Sets front_, rear_, left_, right_, tolerance_, and early_reject_distance_.
int main(int argc, char *argv[])
void compute_distance_keeping(double *vx, double *vy, double *vth)
Sets vx_last_, vy_last and vth_last_ to input parameters, adjusting them.