costmap_2d_ros.h

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#ifndef COSTMAP_2D_COSTMAP_2D_ROS_H_
#define COSTMAP_2D_COSTMAP_2D_ROS_H_
 
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/costmap_2d_publisher.h>
#include <costmap_2d/Costmap2DConfig.h>
#include <costmap_2d/footprint.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/PolygonStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <dynamic_reconfigure/server.h>
#include <pluginlib/class_loader.hpp>
#include <tf2/LinearMath/Transform.h>
 
class SuperValue : public XmlRpc::XmlRpcValue
{
public:
  void setStruct(XmlRpc::XmlRpcValue::ValueStruct* a)
  {
    _type = TypeStruct;
    _value.asStruct = new XmlRpc::XmlRpcValue::ValueStruct(*a);
  }
  void setArray(XmlRpc::XmlRpcValue::ValueArray* a)
  {
    _type = TypeArray;
    _value.asArray = new std::vector<XmlRpc::XmlRpcValue>(*a);
  }
};
 
namespace costmap_2d
{
 
class Costmap2DROS
{
public:
  Costmap2DROS(const std::string &name, tf2_ros::Buffer& tf);
  ~Costmap2DROS();
 
  void start();
 
  void stop();
 
  void pause();
 
  void resume();
 
  void updateMap();
 
  void resetLayers();
 
  bool isCurrent() const
    {
      return layered_costmap_->isCurrent();
    }
 
  bool isStopped() const
    {
      return stopped_;
    }
 
  bool getRobotPose(geometry_msgs::PoseStamped& global_pose) const;
 
  inline const std::string& getName() const noexcept
    {
      return name_;
    }
 
  double getTransformTolerance() const
    {
      return transform_tolerance_;
    }
 
  Costmap2D* getCostmap() const
    {
      return layered_costmap_->getCostmap();
    }
 
  inline const std::string& getGlobalFrameID() const noexcept
    {
      return global_frame_;
    }
 
  inline const std::string& getBaseFrameID() const noexcept
    {
      return robot_base_frame_;
    }
  LayeredCostmap* getLayeredCostmap() const
    {
      return layered_costmap_;
    }
 
  geometry_msgs::Polygon getRobotFootprintPolygon() const
  {
    return costmap_2d::toPolygon(padded_footprint_);
  }
 
  inline const std::vector<geometry_msgs::Point>& getRobotFootprint() const noexcept
  {
    return padded_footprint_;
  }
 
  inline const std::vector<geometry_msgs::Point>& getUnpaddedRobotFootprint() const noexcept
  {
    return unpadded_footprint_;
  }
 
  void getOrientedFootprint(std::vector<geometry_msgs::Point>& oriented_footprint) const;
 
  void setUnpaddedRobotFootprint(const std::vector<geometry_msgs::Point>& points);
 
  void setUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon& footprint);
 
protected:
  LayeredCostmap* layered_costmap_;
  std::string name_;
  tf2_ros::Buffer& tf_;  
  std::string global_frame_;  
  std::string robot_base_frame_;  
  double transform_tolerance_;  
 
private:
  void readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,
                               const costmap_2d::Costmap2DConfig &old_config);
 
  void loadOldParameters(ros::NodeHandle& nh);
  void warnForOldParameters(ros::NodeHandle& nh);
  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 reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level);
  void movementCB(const ros::TimerEvent &event);
  void mapUpdateLoop(double frequency);
  bool map_update_thread_shutdown_;
  bool stop_updates_, initialized_, stopped_;
  boost::thread* map_update_thread_;  
  ros::Time last_publish_;
  ros::Duration publish_cycle;
  pluginlib::ClassLoader<Layer> plugin_loader_;
  Costmap2DPublisher* publisher_;
  dynamic_reconfigure::Server<costmap_2d::Costmap2DConfig> *dsrv_;
 
  boost::recursive_mutex configuration_mutex_;
 
  ros::Subscriber footprint_sub_;
  ros::Publisher footprint_pub_;
  std::vector<geometry_msgs::Point> unpadded_footprint_;
  std::vector<geometry_msgs::Point> padded_footprint_;
  float footprint_padding_;
  costmap_2d::Costmap2DConfig old_config_;
};
// class Costmap2DROS
}  // namespace costmap_2d
 
#endif  // COSTMAP_2D_COSTMAP_2D_ROS_H