base_local_planner: base_local_planner: trajectory_planner

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
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00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of the Willow Garage nor the names of its
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00020 *     from this software without specific prior written permission.
00021 *
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_
00038 #define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_
00039 
00040 #include <ros/ros.h>
00041 #include <costmap_2d/costmap_2d.h>
00042 #include <costmap_2d/costmap_2d_publisher.h>
00043 #include <costmap_2d/costmap_2d_ros.h>
00044 #include <base_local_planner/world_model.h>
00045 #include <base_local_planner/point_grid.h>
00046 #include <base_local_planner/costmap_model.h>
00047 #include <base_local_planner/voxel_grid_model.h>
00048 #include <base_local_planner/trajectory_planner.h>
00049 #include <base_local_planner/map_grid_visualizer.h>
00050 
00051 #include <base_local_planner/planar_laser_scan.h>
00052 
00053 #include <tf/transform_datatypes.h>
00054 
00055 #include <nav_msgs/Odometry.h>
00056 #include <geometry_msgs/PoseStamped.h>
00057 #include <geometry_msgs/Twist.h>
00058 #include <geometry_msgs/Point.h>
00059 
00060 #include <tf/transform_listener.h>
00061 
00062 #include <boost/thread.hpp>
00063 
00064 #include <string>
00065 
00066 #include <angles/angles.h>
00067 
00068 #include <nav_core/base_local_planner.h>
00069 
00070 #include <dynamic_reconfigure/server.h>
00071 #include <base_local_planner/BaseLocalPlannerConfig.h>
00072 
00073 namespace base_local_planner {
00078   class TrajectoryPlannerROS : public nav_core::BaseLocalPlanner {
00079     public:
00083       TrajectoryPlannerROS();
00084 
00091       TrajectoryPlannerROS(std::string name, tf::TransformListener* tf,
00092           costmap_2d::Costmap2DROS* costmap_ros);
00093 
00100       void initialize(std::string name, tf::TransformListener* tf,
00101           costmap_2d::Costmap2DROS* costmap_ros);
00102 
00106       ~TrajectoryPlannerROS();
00107       
00113       bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);
00114 
00120       bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
00121 
00126       bool isGoalReached();
00127 
00139       bool checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true);
00140 
00152       double scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true);
00153 
00154     private:
00158       void reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level);
00159 
00168       bool rotateToGoal(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel);
00169 
00177       bool stopWithAccLimits(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, geometry_msgs::Twist& cmd_vel);
00178 
00179       void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
00180 
00181       std::vector<double> loadYVels(ros::NodeHandle node);
00182 
00183       double sign(double x){
00184         return x < 0.0 ? -1.0 : 1.0;
00185       }
00186 
00187       WorldModel* world_model_; 
00188       TrajectoryPlanner* tc_; 
00189       costmap_2d::Costmap2DROS* costmap_ros_; 
00190       costmap_2d::Costmap2D costmap_; 
00191       MapGridVisualizer map_viz_; 
00192       tf::TransformListener* tf_; 
00193       std::string global_frame_; 
00194       double max_sensor_range_; 
00195       nav_msgs::Odometry base_odom_; 
00196       std::string robot_base_frame_; 
00197       double rot_stopped_velocity_, trans_stopped_velocity_;
00198       double xy_goal_tolerance_, yaw_goal_tolerance_, min_in_place_vel_th_;
00199       double inflation_radius_; 
00200       std::vector<geometry_msgs::PoseStamped> global_plan_;
00201       bool prune_plan_;
00202       ros::Publisher g_plan_pub_, l_plan_pub_;
00203       ros::Subscriber odom_sub_;
00204       boost::recursive_mutex odom_lock_;
00205       bool initialized_;
00206       double max_vel_th_, min_vel_th_;
00207       double acc_lim_x_, acc_lim_y_, acc_lim_theta_;
00208       double sim_period_;
00209       bool rotating_to_goal_;
00210       bool latch_xy_goal_tolerance_, xy_tolerance_latch_;
00211       dynamic_reconfigure::Server<BaseLocalPlannerConfig> *dsrv_;
00212       base_local_planner::BaseLocalPlannerConfig default_config_;
00213       bool setup_;
00214   };
00215 
00216 };
00217 
00218 #endif
trajectory_planner_ros.h
