Move Base Logger

Usage

Runs the following command to begin logging:

rosrun husky_slam_simulation move_base_logger_node

The terminal window will display the path to the logs and their names. Be sure to stop the node before attempting to open the logs.

Functions

Constructors:

1. MoveBaseLogger()

   1. Sets initial values of member variables to null

   2. Requires no parameters

Deconstructors:

1. ~MoveBaseLogger()

   1. There are no member variables declared on the heap to free

   2. Requires no parameters

Public Functions:

1. Void run()

   1. Initializes the ROS node under the name “move_base_logger”

   2. Creates associated .txt files for logging

   3. Subscribes to:

      1. Cmd_vel

      2. Move_base/status

      3. Move_base/feedback

      4. Move_base/result

   4. Operates at 100Hz

2. Void updateTwist(constgeometry_msgs::Twist& msg)

   1. Updates the private variable twistMsg

   2. This is a callback function for when a new Twist message is published

3. Void updateGoalStatus(const actionlib_msgs::GoalStatus& msg)

   1. Updates the private variable goalStatusMsg

   2. This is a callback function for when a new GoalStatus message is published

4. Void updateFeedback(const move_base_msgs::MoveBaseActionFeedback& msg)

   1. Updates the private variable feedbackMsg

   2. This is a callback function for when a new MoveBaseActionFeedback message is published

5. Void updateResult(const move_base_msgs::MoveBaseActionResult& msg)

   1. Updates the private variable resultMsg

   2. This is a callback function for when a new MoveBaseActionResult message is published

Private Functions:

1. Void createFile(std::string* fileName)

   1. Requires a pointer to a string

   2. Will edit fileName to an unique file path

      1. Appends ascending characters until the file path is unique

   3. Uses fileExists

2. Bool fileExists(std::string filename)

   1. Requires a string

   2. Returns a bool

      1. True implies the file path exists

      2. False implies the file path does not exist