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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 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 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef NAVFN_NAVFN_ROS_H_ 00038 #define NAVFN_NAVFN_ROS_H_ 00039 00040 #include <ros/ros.h> 00041 #include <navfn/navfn.h> 00042 #include <costmap_2d/costmap_2d_ros.h> 00043 #include <geometry_msgs/PoseStamped.h> 00044 #include <geometry_msgs/Point.h> 00045 #include <nav_msgs/Path.h> 00046 #include <tf/transform_datatypes.h> 00047 #include <vector> 00048 #include <nav_core/base_global_planner.h> 00049 #include <nav_msgs/GetPlan.h> 00050 #include <navfn/potarr_point.h> 00051 #include <pcl_ros/publisher.h> 00052 00053 namespace navfn { 00058 class NavfnROS : public nav_core::BaseGlobalPlanner { 00059 public: 00063 NavfnROS(); 00064 00070 NavfnROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros); 00071 00077 void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); 00078 00086 bool makePlan(const geometry_msgs::PoseStamped& start, 00087 const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan); 00088 00097 bool makePlan(const geometry_msgs::PoseStamped& start, 00098 const geometry_msgs::PoseStamped& goal, double tolerance, std::vector<geometry_msgs::PoseStamped>& plan); 00099 00105 bool computePotential(const geometry_msgs::Point& world_point); 00106 00113 bool getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan); 00114 00120 double getPointPotential(const geometry_msgs::Point& world_point); 00121 00127 bool validPointPotential(const geometry_msgs::Point& world_point); 00128 00135 bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance); 00136 00140 void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, double r, double g, double b, double a); 00141 00142 ~NavfnROS(){delete costmap_publisher_;} 00143 00144 bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp); 00145 00146 protected: 00147 00151 virtual void getCostmap(costmap_2d::Costmap2D& costmap); 00152 costmap_2d::Costmap2DROS* costmap_ros_; 00153 boost::shared_ptr<NavFn> planner_; 00154 double inscribed_radius_, circumscribed_radius_, inflation_radius_; 00155 ros::Publisher plan_pub_; 00156 pcl_ros::Publisher<PotarrPoint> potarr_pub_; 00157 bool initialized_, allow_unknown_, visualize_potential_; 00158 00159 00160 private: 00161 inline double sq_distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2){ 00162 double dx = p1.pose.position.x - p2.pose.position.x; 00163 double dy = p1.pose.position.y - p2.pose.position.y; 00164 return dx*dx +dy*dy; 00165 } 00166 00167 void mapToWorld(double mx, double my, double& wx, double& wy); 00168 void clearRobotCell(const tf::Stamped<tf::Pose>& global_pose, unsigned int mx, unsigned int my); 00169 costmap_2d::Costmap2D costmap_; 00170 double planner_window_x_, planner_window_y_, default_tolerance_; 00171 costmap_2d::Costmap2DPublisher* costmap_publisher_; 00172 std::string tf_prefix_; 00173 boost::mutex mutex_; 00174 ros::ServiceServer make_plan_srv_; 00175 }; 00176 }; 00177 00178 #endif