The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_planner_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapPlannerExecution:

[legend]

Public Member Functions
	CostmapPlannerExecution (const std::string &planner_name, const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &costmap_ptr, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual	~CostmapPlannerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractPlannerExecution
	AbstractPlannerExecution (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, const MoveBaseFlexConfig &config)

	AbstractPlannerExecution (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)

virtual bool	cancel ()

double	getCost () const

double	getFrequency () const

ros::Time	getLastValidPlanTime () const

std::vector< geometry_msgs::PoseStamped >	getPlan () const

PlanningState	getState () const

bool	isPatienceExceeded () const

void	reconfigure (const MoveBaseFlexConfig &config)

void	setNewGoal (const geometry_msgs::PoseStamped &goal, double tolerance)

void	setNewStart (const geometry_msgs::PoseStamped &start)

void	setNewStartAndGoal (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)

bool	start (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)

virtual	~AbstractPlannerExecution ()

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 bool	start ()

virtual void	stop ()

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

virtual	~AbstractExecutionBase ()

Private Member Functions
virtual uint32_t	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)
	Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin. 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...

mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
const CostmapWrapper::Ptr &	costmap_ptr_
	Shared pointer to the global planner costmap. More...

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

std::string	planner_name_
	Name of the planner assigned by the class loader. More...

Additional Inherited Members
Public Types inherited from mbf_abstract_nav::AbstractPlannerExecution
enum	PlanningState

typedef boost::shared_ptr< AbstractPlannerExecution >	Ptr

Public Attributes inherited from mbf_abstract_nav::AbstractPlannerExecution
	CANCELED

	FOUND_PLAN

	INITIALIZED

	INTERNAL_ERROR

	MAX_RETRIES

	NO_PLAN_FOUND

	PAT_EXCEEDED

	PLANNING

	STARTED

	STOPPED

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

Protected Attributes inherited from mbf_abstract_nav::AbstractPlannerExecution
mbf_abstract_core::AbstractPlanner::Ptr	planner_

std::string	plugin_name_

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 CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 60 of file costmap_planner_execution.h.

Constructor & Destructor Documentation

◆ CostmapPlannerExecution()

mbf_costmap_nav::CostmapPlannerExecution::CostmapPlannerExecution	(	const std::string &	planner_name,
		const mbf_costmap_core::CostmapPlanner::Ptr &	planner_ptr,
		const TFPtr &	tf_listener_ptr,
		const CostmapWrapper::Ptr &	costmap_ptr,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

planner_name	Name of the planner to use.
planner_ptr	Shared pointer to the plugin to use.
tf_listener_ptr	Shared pointer to the tf-listener.
costmap_ptr	Shared pointer to the global costmap.
config	Current server configuration (dynamic).

Definition at line 47 of file costmap_planner_execution.cpp.

◆ ~CostmapPlannerExecution()

mbf_costmap_nav::CostmapPlannerExecution::~CostmapPlannerExecution ( )

virtual

Destructor.

Definition at line 57 of file costmap_planner_execution.cpp.

Member Function Documentation

◆ makePlan()

uint32_t mbf_costmap_nav::CostmapPlannerExecution::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)

privatevirtual

Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.

Parameters

start	The start pose for planning
goal	The goal pose for planning
tolerance	The goal tolerance
plan	The computed plan by the plugin
cost	The computed costs for the corresponding plan
message	An optional message which should correspond with the returned outcome

Returns: An outcome number, see also the action definition in the GetPath.action file

Reimplemented from mbf_abstract_nav::AbstractPlannerExecution.

Definition at line 71 of file costmap_planner_execution.cpp.

◆ postRun()

void mbf_costmap_nav::CostmapPlannerExecution::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 95 of file costmap_planner_execution.h.

◆ preRun()

void mbf_costmap_nav::CostmapPlannerExecution::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 86 of file costmap_planner_execution.h.