A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages. More...

#include <costmap_2d_ros.h>

Public Member Functions
	Costmap2DROS (const std::string &name, tf2_ros::Buffer &tf)
	Constructor for the wrapper. More...

const std::string &	getBaseFrameID () const noexcept
	Returns the local frame of the costmap. More...

Costmap2D *	getCostmap () const
	Return a pointer to the "master" costmap which receives updates from all the layers. More...

const std::string &	getGlobalFrameID () const noexcept
	Returns the global frame of the costmap. More...

LayeredCostmap *	getLayeredCostmap () const

const std::string &	getName () const noexcept
	Returns costmap name. More...

void	getOrientedFootprint (std::vector< geometry_msgs::Point > &oriented_footprint) const
	Build the oriented footprint of the robot at the robot's current pose. More...

const std::vector< geometry_msgs::Point > &	getRobotFootprint () const noexcept
	Return the current footprint of the robot as a vector of points. More...

geometry_msgs::Polygon	getRobotFootprintPolygon () const
	Returns the current padded footprint as a geometry_msgs::Polygon. More...

bool	getRobotPose (geometry_msgs::PoseStamped &global_pose) const
	Get the pose of the robot in the global frame of the costmap. More...

double	getTransformTolerance () const
	Returns the delay in transform (tf) data that is tolerable in seconds. More...

const std::vector< geometry_msgs::Point > &	getUnpaddedRobotFootprint () const noexcept
	Return the current unpadded footprint of the robot as a vector of points. More...

bool	isCurrent () const
	Same as getLayeredCostmap()->isCurrent(). More...

bool	isStopped () const
	Is the costmap stopped. More...

void	pause ()
	Stops the costmap from updating, but sensor data still comes in over the wire. More...

void	resetLayers ()
	Reset each individual layer. More...

void	resume ()
	Resumes costmap updates. More...

void	setUnpaddedRobotFootprint (const std::vector< geometry_msgs::Point > &points)
	Set the footprint of the robot to be the given set of points, padded by footprint_padding. More...

void	setUnpaddedRobotFootprintPolygon (const geometry_msgs::Polygon &footprint)
	Set the footprint of the robot to be the given polygon, padded by footprint_padding. More...

void	start ()
	Subscribes to sensor topics if necessary and starts costmap updates, can be called to restart the costmap after calls to either stop() or pause() More...

void	stop ()
	Stops costmap updates and unsubscribes from sensor topics. More...

void	updateMap ()

	~Costmap2DROS ()

Protected Attributes
std::string	global_frame_
	The global frame for the costmap. More...

LayeredCostmap *	layered_costmap_

std::string	name_

std::string	robot_base_frame_
	The frame_id of the robot base. More...

tf2_ros::Buffer &	tf_
	Used for transforming point clouds. More...

double	transform_tolerance_
	timeout before transform errors More...

Private Member Functions
void	checkOldParam (ros::NodeHandle &nh, const std::string &param_name)

void	copyParentParameters (const std::string &plugin_name, const std::string &plugin_type, ros::NodeHandle &nh)

void	loadOldParameters (ros::NodeHandle &nh)

void	mapUpdateLoop (double frequency)

void	movementCB (const ros::TimerEvent &event)

void	readFootprintFromConfig (const costmap_2d::Costmap2DConfig &new_config, const costmap_2d::Costmap2DConfig &old_config)
	Set the footprint from the new_config object. More...

void	reconfigureCB (costmap_2d::Costmap2DConfig &config, uint32_t level)

void	warnForOldParameters (ros::NodeHandle &nh)

Private Attributes
boost::recursive_mutex	configuration_mutex_

dynamic_reconfigure::Server< costmap_2d::Costmap2DConfig > *	dsrv_

float	footprint_padding_

ros::Publisher	footprint_pub_

ros::Subscriber	footprint_sub_

bool	initialized_

ros::Time	last_publish_

boost::thread *	map_update_thread_
	A thread for updating the map. More...

bool	map_update_thread_shutdown_

costmap_2d::Costmap2DConfig	old_config_

std::vector< geometry_msgs::Point >	padded_footprint_

pluginlib::ClassLoader< Layer >	plugin_loader_

ros::Duration	publish_cycle

Costmap2DPublisher *	publisher_

bool	stop_updates_

bool	stopped_

std::vector< geometry_msgs::Point >	unpadded_footprint_

Detailed Description

A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages.

Definition at line 74 of file costmap_2d_ros.h.

Constructor & Destructor Documentation

◆ Costmap2DROS()

costmap_2d::Costmap2DROS::Costmap2DROS	(	const std::string &	name,
		tf2_ros::Buffer &	tf
	)

Constructor for the wrapper.

Parameters

name	The name for this costmap
tf	A reference to a TransformListener

Definition at line 64 of file costmap_2d_ros.cpp.

◆ ~Costmap2DROS()

costmap_2d::Costmap2DROS::~Costmap2DROS ( )

Definition at line 177 of file costmap_2d_ros.cpp.

Member Function Documentation

◆ checkOldParam()

void costmap_2d::Costmap2DROS::checkOldParam	(	ros::NodeHandle &	nh,
		const std::string &	param_name
	)

private

Definition at line 305 of file costmap_2d_ros.cpp.

◆ copyParentParameters()

void costmap_2d::Costmap2DROS::copyParentParameters	(	const std::string &	plugin_name,
		const std::string &	plugin_type,
		ros::NodeHandle &	nh
	)

private

Definition at line 265 of file costmap_2d_ros.cpp.

◆ getBaseFrameID()

const std::string& costmap_2d::Costmap2DROS::getBaseFrameID ( ) const

inlinenoexcept

Returns the local frame of the costmap.

Returns: The local frame of the costmap

Definition at line 168 of file costmap_2d_ros.h.

◆ getCostmap()

Costmap2D* costmap_2d::Costmap2DROS::getCostmap ( ) const

inline

Return a pointer to the "master" costmap which receives updates from all the layers.

Same as calling getLayeredCostmap()->getCostmap().

Definition at line 150 of file costmap_2d_ros.h.

◆ getGlobalFrameID()

const std::string& costmap_2d::Costmap2DROS::getGlobalFrameID ( ) const

inlinenoexcept

Returns the global frame of the costmap.

Returns: The global frame of the costmap

Definition at line 159 of file costmap_2d_ros.h.

◆ getLayeredCostmap()

LayeredCostmap* costmap_2d::Costmap2DROS::getLayeredCostmap ( ) const

inline

Definition at line 172 of file costmap_2d_ros.h.

◆ getName()

const std::string& costmap_2d::Costmap2DROS::getName ( ) const

inlinenoexcept

Returns costmap name.

Definition at line 136 of file costmap_2d_ros.h.

◆ getOrientedFootprint()

void costmap_2d::Costmap2DROS::getOrientedFootprint ( std::vector< geometry_msgs::Point > & oriented_footprint ) const

Build the oriented footprint of the robot at the robot's current pose.

Parameters

oriented_footprint Will be filled with the points in the oriented footprint of the robot

Definition at line 597 of file costmap_2d_ros.cpp.

◆ getRobotFootprint()

const std::vector<geometry_msgs::Point>& costmap_2d::Costmap2DROS::getRobotFootprint ( ) const

inlinenoexcept

Return the current footprint of the robot as a vector of points.

This version of the footprint is padded by the footprint_padding_ distance, set in the rosparam "footprint_padding".

The footprint initially comes from the rosparam "footprint" but can be overwritten by dynamic reconfigure or by messages received on the "footprint" topic.

Definition at line 191 of file costmap_2d_ros.h.

◆ getRobotFootprintPolygon()

geometry_msgs::Polygon costmap_2d::Costmap2DROS::getRobotFootprintPolygon ( ) const

inline

Returns the current padded footprint as a geometry_msgs::Polygon.

Definition at line 178 of file costmap_2d_ros.h.

◆ getRobotPose()

bool costmap_2d::Costmap2DROS::getRobotPose ( geometry_msgs::PoseStamped & global_pose ) const

Get the pose of the robot in the global frame of the costmap.

Parameters

global_pose Will be set to the pose of the robot in the global frame of the costmap

Returns: True if the pose was set successfully, false otherwise

Definition at line 546 of file costmap_2d_ros.cpp.

◆ getTransformTolerance()

double costmap_2d::Costmap2DROS::getTransformTolerance ( ) const

inline

Returns the delay in transform (tf) data that is tolerable in seconds.

Definition at line 142 of file costmap_2d_ros.h.

◆ getUnpaddedRobotFootprint()

const std::vector<geometry_msgs::Point>& costmap_2d::Costmap2DROS::getUnpaddedRobotFootprint ( ) const

inlinenoexcept

Return the current unpadded footprint of the robot as a vector of points.

This is the raw version of the footprint without padding.

The footprint initially comes from the rosparam "footprint" but can be overwritten by dynamic reconfigure or by messages received on the "footprint" topic.

Definition at line 203 of file costmap_2d_ros.h.

◆ isCurrent()

bool costmap_2d::Costmap2DROS::isCurrent ( ) const

inline

Same as getLayeredCostmap()->isCurrent().

Definition at line 115 of file costmap_2d_ros.h.

◆ isStopped()

bool costmap_2d::Costmap2DROS::isStopped ( ) const

inline

Is the costmap stopped.

Definition at line 123 of file costmap_2d_ros.h.

◆ loadOldParameters()

void costmap_2d::Costmap2DROS::loadOldParameters ( ros::NodeHandle & nh )

private

Definition at line 192 of file costmap_2d_ros.cpp.

◆ mapUpdateLoop()

void costmap_2d::Costmap2DROS::mapUpdateLoop ( double frequency )

private

Definition at line 412 of file costmap_2d_ros.cpp.

◆ movementCB()

void costmap_2d::Costmap2DROS::movementCB ( const ros::TimerEvent & event )

private

Definition at line 399 of file costmap_2d_ros.cpp.

◆ pause()

void costmap_2d::Costmap2DROS::pause ( )

Stops the costmap from updating, but sensor data still comes in over the wire.

Definition at line 517 of file costmap_2d_ros.cpp.

◆ readFootprintFromConfig()

void costmap_2d::Costmap2DROS::readFootprintFromConfig	(	const costmap_2d::Costmap2DConfig &	new_config,
		const costmap_2d::Costmap2DConfig &	old_config
	)

private

Set the footprint from the new_config object.

If the values of footprint and robot_radius are the same in new_config and old_config, nothing is changed.

Definition at line 358 of file costmap_2d_ros.cpp.

◆ reconfigureCB()

void costmap_2d::Costmap2DROS::reconfigureCB	(	costmap_2d::Costmap2DConfig &	config,
		uint32_t	level
	)

private

Definition at line 311 of file costmap_2d_ros.cpp.

◆ resetLayers()

void costmap_2d::Costmap2DROS::resetLayers ( )

Reset each individual layer.

Definition at line 534 of file costmap_2d_ros.cpp.

◆ resume()

void costmap_2d::Costmap2DROS::resume ( )

Resumes costmap updates.

Definition at line 523 of file costmap_2d_ros.cpp.

◆ setUnpaddedRobotFootprint()

void costmap_2d::Costmap2DROS::setUnpaddedRobotFootprint ( const std::vector< geometry_msgs::Point > & points )

Set the footprint of the robot to be the given set of points, padded by footprint_padding.

Should be a convex polygon, though this is not enforced.

First expands the given polygon by footprint_padding_ and then sets padded_footprint_ and calls layered_costmap_->setFootprint(). Also saves the unpadded footprint, which is available from getUnpaddedRobotFootprint().

Definition at line 390 of file costmap_2d_ros.cpp.

◆ setUnpaddedRobotFootprintPolygon()

void costmap_2d::Costmap2DROS::setUnpaddedRobotFootprintPolygon ( const geometry_msgs::Polygon & footprint )

Set the footprint of the robot to be the given polygon, padded by footprint_padding.

Should be a convex polygon, though this is not enforced.

First expands the given polygon by footprint_padding_ and then sets padded_footprint_ and calls layered_costmap_->setFootprint(). Also saves the unpadded footprint, which is available from getUnpaddedRobotFootprint().

Definition at line 172 of file costmap_2d_ros.cpp.

◆ start()

void costmap_2d::Costmap2DROS::start ( )

Subscribes to sensor topics if necessary and starts costmap updates, can be called to restart the costmap after calls to either stop() or pause()

Definition at line 480 of file costmap_2d_ros.cpp.

◆ stop()

void costmap_2d::Costmap2DROS::stop ( )

Stops costmap updates and unsubscribes from sensor topics.

Definition at line 503 of file costmap_2d_ros.cpp.

◆ updateMap()

void costmap_2d::Costmap2DROS::updateMap ( )

Definition at line 455 of file costmap_2d_ros.cpp.

◆ warnForOldParameters()

void costmap_2d::Costmap2DROS::warnForOldParameters ( ros::NodeHandle & nh )

private

Definition at line 299 of file costmap_2d_ros.cpp.

Member Data Documentation

◆ configuration_mutex_

boost::recursive_mutex costmap_2d::Costmap2DROS::configuration_mutex_

private

Definition at line 270 of file costmap_2d_ros.h.

◆ dsrv_

dynamic_reconfigure::Server<costmap_2d::Costmap2DConfig>* costmap_2d::Costmap2DROS::dsrv_

private

Definition at line 268 of file costmap_2d_ros.h.

◆ footprint_padding_

float costmap_2d::Costmap2DROS::footprint_padding_

private

Definition at line 276 of file costmap_2d_ros.h.

◆ footprint_pub_

ros::Publisher costmap_2d::Costmap2DROS::footprint_pub_

private

Definition at line 273 of file costmap_2d_ros.h.

◆ footprint_sub_

ros::Subscriber costmap_2d::Costmap2DROS::footprint_sub_

private

Definition at line 272 of file costmap_2d_ros.h.

◆ global_frame_

std::string costmap_2d::Costmap2DROS::global_frame_

protected

The global frame for the costmap.

Definition at line 242 of file costmap_2d_ros.h.

◆ initialized_

bool costmap_2d::Costmap2DROS::initialized_

private

Definition at line 262 of file costmap_2d_ros.h.

◆ last_publish_

ros::Time costmap_2d::Costmap2DROS::last_publish_

private

Definition at line 264 of file costmap_2d_ros.h.

◆ layered_costmap_

LayeredCostmap* costmap_2d::Costmap2DROS::layered_costmap_

protected

Definition at line 239 of file costmap_2d_ros.h.

◆ map_update_thread_

boost::thread* costmap_2d::Costmap2DROS::map_update_thread_

private

A thread for updating the map.

Definition at line 263 of file costmap_2d_ros.h.

◆ map_update_thread_shutdown_

bool costmap_2d::Costmap2DROS::map_update_thread_shutdown_

private

Definition at line 261 of file costmap_2d_ros.h.

◆ name_

std::string costmap_2d::Costmap2DROS::name_

protected

Definition at line 240 of file costmap_2d_ros.h.

◆ old_config_

costmap_2d::Costmap2DConfig costmap_2d::Costmap2DROS::old_config_

private

Definition at line 277 of file costmap_2d_ros.h.

◆ padded_footprint_

std::vector<geometry_msgs::Point> costmap_2d::Costmap2DROS::padded_footprint_

private

Definition at line 275 of file costmap_2d_ros.h.

◆ plugin_loader_

pluginlib::ClassLoader<Layer> costmap_2d::Costmap2DROS::plugin_loader_

private

Definition at line 266 of file costmap_2d_ros.h.

◆ publish_cycle

ros::Duration costmap_2d::Costmap2DROS::publish_cycle

private

Definition at line 265 of file costmap_2d_ros.h.

◆ publisher_

Costmap2DPublisher* costmap_2d::Costmap2DROS::publisher_

private

Definition at line 267 of file costmap_2d_ros.h.

◆ robot_base_frame_

std::string costmap_2d::Costmap2DROS::robot_base_frame_

protected

The frame_id of the robot base.

Definition at line 243 of file costmap_2d_ros.h.

◆ stop_updates_

bool costmap_2d::Costmap2DROS::stop_updates_

private

Definition at line 262 of file costmap_2d_ros.h.

◆ stopped_

bool costmap_2d::Costmap2DROS::stopped_

private

Definition at line 262 of file costmap_2d_ros.h.

◆ tf_

tf2_ros::Buffer& costmap_2d::Costmap2DROS::tf_

protected

Used for transforming point clouds.

Definition at line 241 of file costmap_2d_ros.h.

◆ transform_tolerance_

double costmap_2d::Costmap2DROS::transform_tolerance_

protected

timeout before transform errors

Definition at line 244 of file costmap_2d_ros.h.

◆ unpadded_footprint_

std::vector<geometry_msgs::Point> costmap_2d::Costmap2DROS::unpadded_footprint_

private

Definition at line 274 of file costmap_2d_ros.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Costmap2DROS()

◆ ~Costmap2DROS()

Member Function Documentation

◆ checkOldParam()

◆ copyParentParameters()

◆ getBaseFrameID()

◆ getCostmap()

◆ getGlobalFrameID()

◆ getLayeredCostmap()

◆ getName()

◆ getOrientedFootprint()

◆ getRobotFootprint()

◆ getRobotFootprintPolygon()

◆ getRobotPose()

◆ getTransformTolerance()

◆ getUnpaddedRobotFootprint()

◆ isCurrent()

◆ isStopped()

◆ loadOldParameters()

◆ mapUpdateLoop()

◆ movementCB()

◆ pause()

◆ readFootprintFromConfig()

◆ reconfigureCB()

◆ resetLayers()

◆ resume()

◆ setUnpaddedRobotFootprint()

◆ setUnpaddedRobotFootprintPolygon()

◆ start()

◆ stop()

◆ updateMap()

◆ warnForOldParameters()

Member Data Documentation

◆ configuration_mutex_

◆ dsrv_

◆ footprint_padding_

◆ footprint_pub_

◆ footprint_sub_

◆ global_frame_

◆ initialized_

◆ last_publish_

◆ layered_costmap_

◆ map_update_thread_

◆ map_update_thread_shutdown_

◆ name_

◆ old_config_

◆ padded_footprint_

◆ plugin_loader_

◆ publish_cycle

◆ publisher_

◆ robot_base_frame_

◆ stop_updates_

◆ stopped_

◆ tf_

◆ transform_tolerance_

◆ unpadded_footprint_