The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_controller_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapControllerExecution:

[legend]

Public Member Functions
	CostmapControllerExecution (const std::string &controller_name, const mbf_costmap_core::CostmapController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &costmap_ptr, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual	~CostmapControllerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
	AbstractControllerExecution (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)

virtual bool	cancel ()

ros::Time	getLastPluginCallTime () const

ControllerState	getState () const

geometry_msgs::TwistStamped	getVelocityCmd () const

bool	isMoving () const

bool	isPatienceExceeded () const

void	reconfigure (const MoveBaseFlexConfig &config)

bool	setControllerFrequency (double frequency)

void	setNewPlan (const std::vector< geometry_msgs::PoseStamped > &plan, bool tolerance_from_action=false, double action_dist_tolerance=1.0, double action_angle_tolerance=3.1415)

virtual bool	start ()

virtual	~AbstractControllerExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (const std::string &name)

const std::string &	getMessage () const

const std::string &	getName () const

uint32_t	getOutcome () const

void	join ()

virtual void	reconfigure (MoveBaseFlexConfig &_cfg)

virtual void	stop ()

boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)

virtual	~AbstractExecutionBase ()

Private Member Functions
virtual uint32_t	computeVelocityCmd (const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
	Request plugin for a new velocity command. We override this method so we can lock the local costmap before calling the planner. More...

void	postRun ()
	Implementation-specific cleanup function, called right after execution. This method overrides abstract execution empty implementation with underlying map-specific cleanup code. More...

void	preRun ()
	Implementation-specific setup function, called right before execution. This method overrides abstract execution empty implementation with underlying map-specific setup code. More...

bool	safetyCheck ()
	Implementation-specific safety check, called during execution to ensure it's safe to drive. This method overrides abstract execution empty implementation with underlying map-specific checks, more precisely if controller costmap is current. More...

mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
std::string	controller_name_
	name of the controller plugin assigned by the class loader More...

const CostmapWrapper::Ptr &	costmap_ptr_
	Shared pointer to thr local costmap. More...

bool	lock_costmap_
	Whether to lock costmap before calling the controller (see issue #4 for details) More...

Additional Inherited Members
Public Types inherited from mbf_abstract_nav::AbstractControllerExecution
enum	ControllerState

typedef boost::shared_ptr< AbstractControllerExecution >	Ptr

Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
	ARRIVED_GOAL

	CANCELED

	EMPTY_PLAN

	GOT_LOCAL_CMD

	INITIALIZED

	INTERNAL_ERROR

	INVALID_PLAN

	MAX_RETRIES

	NO_LOCAL_CMD

	NO_PLAN

	PAT_EXCEEDED

	PLANNING

	STARTED

	STOPPED

Static Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
static const double	DEFAULT_CONTROLLER_FREQUENCY

Protected Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
virtual void	run ()

void	setVelocityCmd (const geometry_msgs::TwistStamped &vel_cmd_stamped)

Protected Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
mbf_abstract_core::AbstractController::Ptr	controller_

std::string	global_frame_

ros::Time	last_call_time_

ros::Time	last_valid_cmd_time_

int	max_retries_

ros::Duration	patience_

std::string	plugin_name_

std::string	robot_frame_

ros::Time	start_time_

const TFPtr &	tf_listener_ptr

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_

boost::condition_variable	condition_

std::string	message_

std::string	name_

uint32_t	outcome_

boost::thread	thread_

Detailed Description

The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 60 of file costmap_controller_execution.h.

Constructor & Destructor Documentation

◆ CostmapControllerExecution()

mbf_costmap_nav::CostmapControllerExecution::CostmapControllerExecution	(	const std::string &	controller_name,
		const mbf_costmap_core::CostmapController::Ptr &	controller_ptr,
		const ros::Publisher &	vel_pub,
		const ros::Publisher &	goal_pub,
		const TFPtr &	tf_listener_ptr,
		const CostmapWrapper::Ptr &	costmap_ptr,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

controller_name	Name of the controller to use.
controller_ptr	Shared pointer to the plugin to use.
vel_pub	Velocity commands publisher.
goal_pub	Goal pose publisher (just vor visualization).
tf_listener_ptr	Shared pointer to a common tf listener.
costmap_ptr	Shared pointer to the local costmap.
config	Current server configuration (dynamic).

Definition at line 45 of file costmap_controller_execution.cpp.

◆ ~CostmapControllerExecution()

mbf_costmap_nav::CostmapControllerExecution::~CostmapControllerExecution ( )

virtual

Destructor.

Definition at line 61 of file costmap_controller_execution.cpp.

Member Function Documentation

◆ computeVelocityCmd()

uint32_t mbf_costmap_nav::CostmapControllerExecution::computeVelocityCmd	(	const geometry_msgs::PoseStamped &	robot_pose,
		const geometry_msgs::TwistStamped &	robot_velocity,
		geometry_msgs::TwistStamped &	vel_cmd,
		std::string &	message
	)

privatevirtual

Request plugin for a new velocity command. We override this method so we can lock the local costmap before calling the planner.

Parameters

pose	the current pose of the robot.
velocity	the current velocity of the robot.
cmd_vel	Will be filled with the velocity command to be passed to the robot base.
message	Optional more detailed outcome as a string.

Returns: Result code as described on ExePath action result and plugin's header.

Reimplemented from mbf_abstract_nav::AbstractControllerExecution.

Definition at line 77 of file costmap_controller_execution.cpp.

◆ postRun()

void mbf_costmap_nav::CostmapControllerExecution::postRun ( )

inlineprivatevirtual

Implementation-specific cleanup function, called right after execution. This method overrides abstract execution empty implementation with underlying map-specific cleanup code.

Reimplemented from mbf_abstract_nav::AbstractExecutionBase.

Definition at line 103 of file costmap_controller_execution.h.

◆ preRun()

void mbf_costmap_nav::CostmapControllerExecution::preRun ( )

inlineprivatevirtual

Implementation-specific setup function, called right before execution. This method overrides abstract execution empty implementation with underlying map-specific setup code.

Reimplemented from mbf_abstract_nav::AbstractExecutionBase.

Definition at line 94 of file costmap_controller_execution.h.

◆ safetyCheck()

bool mbf_costmap_nav::CostmapControllerExecution::safetyCheck ( )

privatevirtual

Implementation-specific safety check, called during execution to ensure it's safe to drive. This method overrides abstract execution empty implementation with underlying map-specific checks, more precisely if controller costmap is current.

Returns: True if costmap is current, false otherwise.

Reimplemented from mbf_abstract_nav::AbstractControllerExecution.

Definition at line 92 of file costmap_controller_execution.cpp.

◆ toAbstract()

mbf_abstract_nav::MoveBaseFlexConfig mbf_costmap_nav::CostmapControllerExecution::toAbstract ( const MoveBaseFlexConfig & config )

private

Definition at line 65 of file costmap_controller_execution.cpp.

Member Data Documentation

◆ controller_name_

std::string mbf_costmap_nav::CostmapControllerExecution::controller_name_

private

name of the controller plugin assigned by the class loader

Definition at line 140 of file costmap_controller_execution.h.

◆ costmap_ptr_

const CostmapWrapper::Ptr& mbf_costmap_nav::CostmapControllerExecution::costmap_ptr_

private

Shared pointer to thr local costmap.

Definition at line 134 of file costmap_controller_execution.h.

◆ lock_costmap_

bool mbf_costmap_nav::CostmapControllerExecution::lock_costmap_

private

Whether to lock costmap before calling the controller (see issue #4 for details)

Definition at line 137 of file costmap_controller_execution.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CostmapControllerExecution()

◆ ~CostmapControllerExecution()

Member Function Documentation

◆ computeVelocityCmd()

◆ postRun()

◆ preRun()

◆ safetyCheck()

◆ toAbstract()

Member Data Documentation

◆ controller_name_

◆ costmap_ptr_

◆ lock_costmap_