ROS Wrapper for the DWAPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base. More...

#include <dwa_planner_ros.h>

Inheritance diagram for dwa_local_planner::DWAPlannerROS:

[legend]

List of all members.

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
	DWAPlannerROS ()
	Constructor for DWAPlannerROS wrapper.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
bool	isGoalReached ()
	Check if the goal pose has been achieved.
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following.
Private Member Functions
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	Callback for receiving odometry data.
bool	rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel)
	Once a goal position is reached... rotate to the goal orientation.
double	sign (double x)
bool	stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel)
	Stop the robot taking into account acceleration limits.
Private Attributes
nav_msgs::Odometry	base_odom_
costmap_2d::Costmap2DROS *	costmap_ros_
boost::shared_ptr< DWAPlanner >	dp_
ros::Publisher	g_plan_pub_
std::vector < geometry_msgs::PoseStamped >	global_plan_
bool	initialized_
ros::Publisher	l_plan_pub_
bool	latch_xy_goal_tolerance_
double	max_vel_th_
double	min_rot_vel_
double	min_vel_th_
boost::mutex	odom_mutex_
ros::Subscriber	odom_sub_
bool	prune_plan_
double	rot_stopped_vel_
bool	rotating_to_goal_
tf::TransformListener *	tf_
double	trans_stopped_vel_
double	xy_goal_tolerance_
bool	xy_tolerance_latch_
double	yaw_goal_tolerance_

Detailed Description

ROS Wrapper for the DWAPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base.

Definition at line 49 of file dwa_planner_ros.h.

Constructor & Destructor Documentation

dwa_local_planner::DWAPlannerROS::DWAPlannerROS ( ) [inline]

Constructor for DWAPlannerROS wrapper.

Definition at line 54 of file dwa_planner_ros.h.

Member Function Documentation

bool dwa_local_planner::DWAPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns:: True if a valid trajectory was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 170 of file dwa_planner_ros.cpp.

void dwa_local_planner::DWAPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Constructs the ros wrapper.

Parameters:

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Implements nav_core::BaseLocalPlanner.

Definition at line 46 of file dwa_planner_ros.cpp.

bool dwa_local_planner::DWAPlannerROS::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved.

Returns:: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 339 of file dwa_planner_ros.cpp.

void dwa_local_planner::DWAPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Callback for receiving odometry data.

Parameters:

msg	An Odometry message

Definition at line 88 of file dwa_planner_ros.cpp.

bool dwa_local_planner::DWAPlannerROS::rotateToGoal	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		double	goal_th,
		geometry_msgs::Twist &	cmd_vel
	)		`[private]`

Once a goal position is reached... rotate to the goal orientation.

Parameters:

global_pose	The pose of the robot in the global frame
robot_vel	The velocity of the robot
goal_th	The desired th value for the goal
cmd_vel	The velocity commands to be filled

Returns:: True if a valid trajectory was found, false otherwise

Definition at line 128 of file dwa_planner_ros.cpp.

bool dwa_local_planner::DWAPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & orig_global_plan ) [virtual]

Set the plan that the controller is following.

Parameters:

orig_global_plan The plan to pass to the controller

Returns:: True if the plan was updated successfully, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 356 of file dwa_planner_ros.cpp.

double dwa_local_planner::DWAPlannerROS::sign ( double x ) [inline, private]

Definition at line 85 of file dwa_planner_ros.h.

bool dwa_local_planner::DWAPlannerROS::stopWithAccLimits	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		geometry_msgs::Twist &	cmd_vel
	)		`[private]`