move_base::MoveBase Class Reference

A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. More...

#include <move_base.h>

Public Member Functions
bool	executeCycle (geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Performs a control cycle.
	MoveBase (std::string name, tf::TransformListener &tf)
	Constructor for the actions.
virtual	~MoveBase ()
	Destructor - Cleans up.
Private Member Functions
void	clearCostmapWindows (double size_x, double size_y)
	Clears obstacles within a window around the robot.
bool	clearUnknownService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	A service call that clears unknown space in the robot's immediate area.
void	executeCb (const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal)
void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
geometry_msgs::PoseStamped	goalToGlobalFrame (const geometry_msgs::PoseStamped &goal_pose_msg)
bool	isQuaternionValid (const geometry_msgs::Quaternion &q)
void	loadDefaultRecoveryBehaviors ()
	Loads the default recovery behaviors for the navigation stack.
bool	loadRecoveryBehaviors (ros::NodeHandle node)
	Load the recovery behaviors for the navigation stack from the parameter server.
bool	makePlan (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Make a new global plan.
bool	planService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
	A service call that can be made when the action is inactive that will return a plan.
void	planThread ()
void	publishZeroVelocity ()
	Publishes a velocity command of zero to the base.
void	resetState ()
	Reset the state of the move_base action and send a zero velocity command to the base.
Private Attributes
ros::Publisher	action_goal_pub_
MoveBaseActionServer *	as_
pluginlib::ClassLoader < nav_core::BaseGlobalPlanner >	bgp_loader_
pluginlib::ClassLoader < nav_core::BaseLocalPlanner >	blp_loader_
double	circumscribed_radius_
ros::ServiceServer	clear_unknown_srv_
double	clearing_radius_
bool	clearing_roatation_allowed_
ClearingState	clearing_state_
double	conservative_reset_dist_
bool	control_failure_recovery_
costmap_2d::Costmap2DROS *	controller_costmap_ros_
double	controller_frequency_
double	controller_patience_
std::vector < geometry_msgs::PoseStamped > *	controller_plan
ros::Publisher	current_goal_pub_
std::string	global_frame_
tf::Stamped< tf::Pose >	global_pose_
ros::Subscriber	goal_sub_
double	inscribed_radius_
ros::Time	last_plan_swap_
ros::Time	last_valid_control_
ros::Time	last_valid_plan_
std::vector < geometry_msgs::PoseStamped > *	latest_plan
ros::ServiceServer	make_plan_srv_
boost::mutex	plan_lock
nav_core::BaseGlobalPlanner *	planner_
boost::condition_variable	planner_cond
costmap_2d::Costmap2DROS *	planner_costmap_ros_
double	planner_frequency_
geometry_msgs::PoseStamped	planner_goal
boost::unique_lock < boost::mutex > *	planner_lock
boost::mutex	planner_mutex
double	planner_patience_
std::vector < geometry_msgs::PoseStamped > *	planner_plan
boost::thread *	planner_thread
bool	recovery_behavior_enabled_
std::vector< boost::shared_ptr < nav_core::RecoveryBehavior > >	recovery_behaviors_
unsigned int	recovery_index_
pluginlib::ClassLoader < nav_core::RecoveryBehavior >	recovery_loader_
std::string	robot_base_frame_
bool	runPlanner
bool	shutdown_costmaps_
MoveBaseState	state_
nav_core::BaseLocalPlanner *	tc_
tf::TransformListener &	tf_
ros::Publisher	vel_pub_

Detailed Description

A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location.

Definition at line 82 of file move_base.h.

Constructor & Destructor Documentation

move_base::MoveBase::MoveBase	(	std::string	name,
		tf::TransformListener &	tf
	)

Constructor for the actions.

Parameters:

	name	The name of the action
	tf	A reference to a TransformListener

Definition at line 41 of file move_base.cpp.

move_base::MoveBase::~MoveBase ( ) [virtual]

Destructor - Cleans up.

Definition at line 329 of file move_base.cpp.

Member Function Documentation

void move_base::MoveBase::clearCostmapWindows	(	double	size_x,
		double	size_y
	)			`[private]`

Clears obstacles within a window around the robot.

Parameters:

	size_x	The x size of the window
	size_y	The y size of the window

Definition at line 208 of file move_base.cpp.

bool move_base::MoveBase::clearUnknownService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)			`[private]`

A service call that clears unknown space in the robot's immediate area.

Parameters:

	req	The service request
	resp	The service response

Returns:: True if the service call succeeds, false otherwise

Definition at line 263 of file move_base.cpp.

void move_base::MoveBase::executeCb ( const move_base_msgs::MoveBaseGoalConstPtr & move_base_goal ) [private]

Definition at line 503 of file move_base.cpp.

bool move_base::MoveBase::executeCycle	(	geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Performs a control cycle.

Parameters:

	goal	A reference to the goal to pursue
	global_plan	A reference to the global plan being used

Returns:: True if processing of the goal is done, false otherwise

Definition at line 604 of file move_base.cpp.

void move_base::MoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr & goal ) [private]

Definition at line 199 of file move_base.cpp.

geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame ( const geometry_msgs::PoseStamped & goal_pose_msg ) [private]

Definition at line 419 of file move_base.cpp.

bool move_base::MoveBase::isQuaternionValid ( const geometry_msgs::Quaternion & q ) [private]

Definition at line 389 of file move_base.cpp.

void move_base::MoveBase::loadDefaultRecoveryBehaviors ( ) [private]

Loads the default recovery behaviors for the navigation stack.

Definition at line 848 of file move_base.cpp.

bool move_base::MoveBase::loadRecoveryBehaviors ( ros::NodeHandle node ) [private]

Load the recovery behaviors for the navigation stack from the parameter server.

Parameters:

node

The ros::NodeHandle to be used for loading parameters

Returns:: True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 763 of file move_base.cpp.

bool move_base::MoveBase::makePlan	(	const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)			`[private]`

Make a new global plan.

Parameters:

	goal	The goal to plan to
	plan	Will be filled in with the plan made by the planner

Returns:: True if planning succeeds, false otherwise

Definition at line 355 of file move_base.cpp.

bool move_base::MoveBase::planService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)			`[private]`

A service call that can be made when the action is inactive that will return a plan.

Parameters:

	req	The goal request
	resp	The plan request

Returns:: True if planning succeeded, false otherwise

Definition at line 270 of file move_base.cpp.

void move_base::MoveBase::planThread ( ) [private]

Definition at line 443 of file move_base.cpp.

void move_base::MoveBase::publishZeroVelocity ( ) [private]

Publishes a velocity command of zero to the base.

Definition at line 380 of file move_base.cpp.

void move_base::MoveBase::resetState ( ) [private]

Reset the state of the move_base action and send a zero velocity command to the base.

Definition at line 886 of file move_base.cpp.

Member Data Documentation

ros::Publisher move_base::MoveBase::action_goal_pub_ [private]

Definition at line 186 of file move_base.h.

MoveBaseActionServer* move_base::MoveBase::as_ [private]

Definition at line 170 of file move_base.h.

pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> move_base::MoveBase::bgp_loader_ [private]

Definition at line 196 of file move_base.h.

pluginlib::ClassLoader<nav_core::BaseLocalPlanner> move_base::MoveBase::blp_loader_ [private]

Definition at line 197 of file move_base.h.

double move_base::MoveBase::circumscribed_radius_ [private]

Definition at line 182 of file move_base.h.

ros::ServiceServer move_base::MoveBase::clear_unknown_srv_ [private]

Definition at line 188 of file move_base.h.

double move_base::MoveBase::clearing_radius_ [private]

Definition at line 185 of file move_base.h.

bool move_base::MoveBase::clearing_roatation_allowed_ [private]

Definition at line 189 of file move_base.h.

ClearingState move_base::MoveBase::clearing_state_ [private]

Definition at line 193 of file move_base.h.

double move_base::MoveBase::conservative_reset_dist_ [private]

Definition at line 185 of file move_base.h.

bool move_base::MoveBase::control_failure_recovery_ [private]

Definition at line 190 of file move_base.h.

costmap_2d::Costmap2DROS * move_base::MoveBase::controller_costmap_ros_ [private]

Definition at line 173 of file move_base.h.

double move_base::MoveBase::controller_frequency_ [private]

Definition at line 182 of file move_base.h.

double move_base::MoveBase::controller_patience_ [private]

Definition at line 184 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::controller_plan [private]

Definition at line 204 of file move_base.h.

ros::Publisher move_base::MoveBase::current_goal_pub_ [private]

Definition at line 186 of file move_base.h.

std::string move_base::MoveBase::global_frame_ [private]

Definition at line 176 of file move_base.h.

tf::Stamped<tf::Pose> move_base::MoveBase::global_pose_ [private]

Definition at line 181 of file move_base.h.

ros::Subscriber move_base::MoveBase::goal_sub_ [private]

Definition at line 187 of file move_base.h.

double move_base::MoveBase::inscribed_radius_ [private]

Definition at line 182 of file move_base.h.

ros::Time move_base::MoveBase::last_plan_swap_ [private]

Definition at line 195 of file move_base.h.

ros::Time move_base::MoveBase::last_valid_control_ [private]

Definition at line 195 of file move_base.h.

ros::Time move_base::MoveBase::last_valid_plan_ [private]

Definition at line 195 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::latest_plan [private]

Definition at line 203 of file move_base.h.

ros::ServiceServer move_base::MoveBase::make_plan_srv_ [private]

Definition at line 188 of file move_base.h.

boost::mutex move_base::MoveBase::plan_lock [private]

Definition at line 205 of file move_base.h.

nav_core::BaseGlobalPlanner* move_base::MoveBase::planner_ [private]

Definition at line 175 of file move_base.h.

boost::condition_variable move_base::MoveBase::planner_cond [private]

Definition at line 211 of file move_base.h.

costmap_2d::Costmap2DROS* move_base::MoveBase::planner_costmap_ros_ [private]

Definition at line 173 of file move_base.h.

double move_base::MoveBase::planner_frequency_ [private]

Definition at line 183 of file move_base.h.

geometry_msgs::PoseStamped move_base::MoveBase::planner_goal [private]

Definition at line 212 of file move_base.h.

boost::unique_lock<boost::mutex>* move_base::MoveBase::planner_lock [private]

Definition at line 210 of file move_base.h.

boost::mutex move_base::MoveBase::planner_mutex [private]

Definition at line 209 of file move_base.h.

double move_base::MoveBase::planner_patience_ [private]

Definition at line 184 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::planner_plan [private]

Definition at line 202 of file move_base.h.

boost::thread* move_base::MoveBase::planner_thread [private]

Definition at line 213 of file move_base.h.

bool move_base::MoveBase::recovery_behavior_enabled_ [private]

Definition at line 189 of file move_base.h.

std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > move_base::MoveBase::recovery_behaviors_ [private]

Definition at line 178 of file move_base.h.

unsigned int move_base::MoveBase::recovery_index_ [private]

Definition at line 179 of file move_base.h.

pluginlib::ClassLoader<nav_core::RecoveryBehavior> move_base::MoveBase::recovery_loader_ [private]

Definition at line 198 of file move_base.h.

std::string move_base::MoveBase::robot_base_frame_ [private]

Definition at line 176 of file move_base.h.

bool move_base::MoveBase::runPlanner [private]

Definition at line 208 of file move_base.h.

bool move_base::MoveBase::shutdown_costmaps_ [private]

Definition at line 189 of file move_base.h.

MoveBaseState move_base::MoveBase::state_ [private]

Definition at line 192 of file move_base.h.

nav_core::BaseLocalPlanner* move_base::MoveBase::tc_ [private]

Definition at line 172 of file move_base.h.

tf::TransformListener& move_base::MoveBase::tf_ [private]

Definition at line 168 of file move_base.h.

ros::Publisher move_base::MoveBase::vel_pub_ [private]

Definition at line 186 of file move_base.h.

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

move_base::MoveBase Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation