move_base: move_base: move_base.h Source File

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2008, Willow Garage, Inc.
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00008 *  Redistribution and use in source and binary forms, with or without
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef NAV_MOVE_BASE_ACTION_H_
00038 #define NAV_MOVE_BASE_ACTION_H_
00039 #include <cmath>
00040 #include <ros/ros.h>
00041 
00042 #include <actionlib/server/simple_action_server.h>
00043 #include <move_base_msgs/MoveBaseAction.h>
00044 
00045 #include <nav_core/base_local_planner.h>
00046 #include <nav_core/base_global_planner.h>
00047 #include <nav_core/recovery_behavior.h>
00048 #include <geometry_msgs/PoseStamped.h>
00049 #include <costmap_2d/costmap_2d_ros.h>
00050 #include <costmap_2d/costmap_2d.h>
00051 #include <vector>
00052 #include <string>
00053 #include <nav_msgs/GetPlan.h>
00054 #include <geometry_msgs/Twist.h>
00055 
00056 #include <pluginlib/class_loader.h>
00057 #include <std_srvs/Empty.h>
00058 
00059 #include <dynamic_reconfigure/server.h>
00060 #include "move_base/MoveBaseConfig.h"
00061 
00062 namespace move_base {
00063   //typedefs to help us out with the action server so that we don't hace to type so much
00064   typedef actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> MoveBaseActionServer;
00065 
00066   enum MoveBaseState {
00067     PLANNING,
00068     CONTROLLING,
00069     CLEARING
00070   };
00071 
00072   enum RecoveryTrigger
00073   {
00074     PLANNING_R,
00075     CONTROLLING_R,
00076     OSCILLATION_R
00077   };
00078 
00083   class MoveBase {
00084     public:
00090       MoveBase(std::string name, tf::TransformListener& tf);
00091 
00095       virtual ~MoveBase();
00096 
00103       bool executeCycle(geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& global_plan);
00104 
00105     private:
00112       bool clearUnknownService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp);
00113 
00114     private:
00121       bool clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp);
00122 
00129       bool planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp);
00130 
00137       bool makePlan(const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
00138 
00144       bool loadRecoveryBehaviors(ros::NodeHandle node);
00145 
00149       void loadDefaultRecoveryBehaviors();
00150 
00156       void clearCostmapWindows(double size_x, double size_y);
00157 
00161       void publishZeroVelocity();
00162 
00166       void resetState();
00167 
00168       void goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal);
00169 
00170       void planThread();
00171 
00172       void executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal);
00173 
00174       bool isQuaternionValid(const geometry_msgs::Quaternion& q);
00175 
00176       double distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2);
00177 
00178       geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg);
00179 
00180       tf::TransformListener& tf_;
00181 
00182       MoveBaseActionServer* as_;
00183 
00184       nav_core::BaseLocalPlanner* tc_;
00185       costmap_2d::Costmap2DROS* planner_costmap_ros_, *controller_costmap_ros_;
00186 
00187       nav_core::BaseGlobalPlanner* planner_;
00188       std::string robot_base_frame_, global_frame_;
00189 
00190       std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > recovery_behaviors_;
00191       unsigned int recovery_index_;
00192 
00193       tf::Stamped<tf::Pose> global_pose_;
00194       double planner_frequency_, controller_frequency_, inscribed_radius_, circumscribed_radius_;
00195       double planner_patience_, controller_patience_;
00196       double conservative_reset_dist_, clearing_radius_;
00197       ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_;
00198       ros::Subscriber goal_sub_;
00199       ros::ServiceServer make_plan_srv_, clear_unknown_srv_, clear_costmaps_srv_;
00200       bool shutdown_costmaps_, clearing_roatation_allowed_, recovery_behavior_enabled_;
00201       double oscillation_timeout_, oscillation_distance_;
00202 
00203       MoveBaseState state_;
00204       RecoveryTrigger recovery_trigger_;
00205 
00206       ros::Time last_valid_plan_, last_valid_control_, last_oscillation_reset_;
00207       geometry_msgs::PoseStamped oscillation_pose_;
00208       pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> bgp_loader_;
00209       pluginlib::ClassLoader<nav_core::BaseLocalPlanner> blp_loader_;
00210       pluginlib::ClassLoader<nav_core::RecoveryBehavior> recovery_loader_;
00211 
00212       //set up plan triple buffer
00213       std::vector<geometry_msgs::PoseStamped>* planner_plan_;
00214       std::vector<geometry_msgs::PoseStamped>* latest_plan_;
00215       std::vector<geometry_msgs::PoseStamped>* controller_plan_;
00216 
00217       //set up the planner's thread
00218       bool runPlanner_;
00219       boost::mutex planner_mutex_;
00220       boost::condition_variable planner_cond_;
00221       geometry_msgs::PoseStamped planner_goal_;
00222       boost::thread* planner_thread_;
00223 
00224 
00225       boost::recursive_mutex configuration_mutex_;
00226       dynamic_reconfigure::Server<move_base::MoveBaseConfig> *dsrv_;
00227       
00228       void reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level);
00229 
00230       move_base::MoveBaseConfig last_config_;
00231       move_base::MoveBaseConfig default_config_;
00232       bool setup_, p_freq_change_, c_freq_change_;
00233       bool new_global_plan_;
00234   };
00235 };
00236 #endif
00237