/**
?*?@copyright??Manfredas?Zabarauskas?2013.?All?rights?reserved.?This?project?is?released?under
?*?????????????CC?BY-NC-SA?（Creative?Commons?Attribution-NonCommercial-ShareAlike）?license.
?*/
#include?

//?STL?includes
#include?

//?Kobuki?includes
#include?

//?RPLocomotion?includes
#include?
#include?

int?main（int?argc?char**?argv）
{
????//?Initialize?ROS
????ros::init（argc?argv?“turtlebotslam_locomotion“）;

????//?Get?the?handle?to?the?ROS?node
????ros::NodeHandle?node;

????//?Start?the?worker?node
????RPLocomotionNode?worker_node（node）;
}


RPLocomotionNode::RPLocomotionNode（ros::NodeHandle&?node）?:
????node（node）
????processing_bumper_event（false）
????locomotion_message（new?geometry_msgs::Twist（））
????FRAMING_LINEAR_VELOCITY（FRAMING_LINEAR_VELOCITY_DEFAULT）
????FRAMING_ANGULAR_VELOCITY（FRAMING_ANGULAR_VELOCITY_DEFAULT）
????OBSTACLE_AVOIDANCE_LINEAR_VELOCITY（OBSTACLE_AVOIDANCE_LINEAR_VELOCITY_DEFAULT）
????OBSTACLE_AVOIDANCE_ANGULAR_VELOCITY（OBSTACLE_AVOIDANCE_ANGULAR_VELOCITY_DEFAULT）
{
????//?Initialize?publishers/subscribers/timers
????locomotion_publisher?=?node.advertise（“/turtlebotslam/locomotion/velocity“?1）;
????state_publisher?=?node.advertise（“/turtlebotslam/locomotion/state“?1）;
????motor_power_publisher?=?node.advertise（“/turtlebotslam/locomotion/motor_power“?1）;

????navigation_subscriber?=?node.subscribe（“/turtlebotslam/navigation/driving_direction_and_source“?1?&RPLocomotionNode::navigationMessageCallback?this）;
????bumper_subscriber?=?node.subscribe（“/mobile_base/events/bumper“?1?&RPLocomotionNode::bumperEventCallback?this）;

????double?approximate_sleep_time?=?2.0?*?M_PI?/?OBSTACLE_AVOIDANCE_ANGULAR_VELOCITY;
????bumper_timer?=?node.createWallTimer（ros::WallDuration（approximate_sleep_time）?&RPLocomotionNode::bumperTimerCallback?this?true?false）;

????setProcessingBumperEvent（false）;
????clearLocomotionMessage（）;

????motorsEnabled（true）;

????//?Spin?at?5?Hz
????ros::Rate?rate（5）;
????while?（ros::ok（））
????{

????????locomotion_message_mutex.lock（）;
????????{
????????????locomotion_publisher.publish（locomotion_message）;
????????}
????????locomotion_message_mutex.unlock（）;

????????ros::spinOnce（）;
????????rate.sleep（）;
????}
};


void?RPLocomotionNode::getOverridableParameters（）
{
????node.getParamCached（“/turtlebotslam/locomotion_node/framing_linear_velocity“?FRAMING_LINEAR_VELOCITY）;
????node.getParamCached（“/turtlebotslam/locomotion_node/framing_angular_velocity“?FRAMING_ANGULAR_VELOCITY）;
????node.getParamCached（“/turtlebotslam/locomotion_node/obstacle_avoidance_linear_velocity“?OBSTACLE_AVOIDANCE_LINEAR_VELOCITY）;
????node.getParamCached（“/turtlebotslam/locomotion_node/obstacle_avoidance_angular_velocity“?OBSTACLE_AVOIDANCE_ANGULAR_VELOCITY）;
}


void?RPLocomotionNode::setProcessingBumperEvent（bool?processing）
{
????processing_bumper_event

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-04-05?12:37??turtlebotslam_gazebo\
?????文件????????2147??2017-04-05?12:16??turtlebotslam_gazebo\package.xml
?????文件????????6843??2017-04-05?12:16??turtlebotslam_gazebo\CMakeLists.txt
?????目錄???????????0??2017-04-05?12:31??turtlebotslam_gazebo\rviz\
?????文件???????11555??2018-01-31?09:58??turtlebotslam_gazebo\rviz\navigation.rviz
?????目錄???????????0??2018-02-22?08:08??turtlebotslam_gazebo\worlds\
?????文件????????8540??2018-02-22?08:07??turtlebotslam_gazebo\worlds\cafe.world
?????文件???????58091??2017-04-11?14:07??turtlebotslam_gazebo\worlds\barrier.world
?????文件???????53024??2017-04-10?09:32??turtlebotslam_gazebo\worlds\playground.world
?????文件?????????669??2016-09-27?06:39??turtlebotslam_gazebo\worlds\empty.world
?????文件???????15798??2015-09-16?02:57??turtlebotslam_gazebo\worlds\corridor.world
?????目錄???????????0??2018-01-31?09:48??turtlebotslam_gazebo\launch\
?????文件?????????730??2018-01-31?09:49??turtlebotslam_gazebo\launch\gmapping_demo.launch
?????文件?????????666??2016-11-09?07:58??turtlebotslam_gazebo\launch\keyop.launch
?????文件?????????146??2017-04-05?13:21??turtlebotslam_gazebo\launch\turtlebotslam_rviz.launch
?????文件????????2452??2018-02-23?08:04??turtlebotslam_gazebo\launch\turtlebotslam_gazebo.launch
?????文件?????????486??2017-04-12?10:15??turtlebotslam_gazebo\launch\keyboard_teleop.launch
?????目錄???????????0??2017-04-05?12:16??turtlebotslam_gazebo\src\
?????目錄???????????0??2017-04-11?08:55??turtlebotslam_gazebo\launch\includes\
?????文件????????1217??2017-04-11?10:56??turtlebotslam_gazebo\launch\includes\kobuki.launch.xml
?????文件????????1431??2015-09-16?02:57??turtlebotslam_gazebo\launch\includes\create.launch.xml
?????文件????????1431??2015-09-16?02:57??turtlebotslam_gazebo\launch\includes\roomba.launch.xml
?????目錄???????????0??2017-04-11?06:38??turtlebotslam_locomotion\
?????文件????????6908??2017-04-11?06:38??turtlebotslam_locomotion\CMakeLists.txt
?????文件????????2257??2017-04-11?06:33??turtlebotslam_locomotion\package.xml
?????目錄???????????0??2013-09-18?09:12??turtlebotslam_locomotion\param\
?????文件?????????151??2013-09-18?09:12??turtlebotslam_locomotion\param\keyop_smoother.yaml
?????目錄???????????0??2013-09-18?09:12??turtlebotslam_locomotion\launch\
?????文件????????2039??2017-04-11?13:42??turtlebotslam_locomotion\launch\locomotion.launch
?????目錄???????????0??2017-04-11?06:35??turtlebotslam_locomotion\src\
?????文件????????8028??2017-04-13?01:30??turtlebotslam_locomotion\src\locomotion.cpp
............此處省略28個文件信息