dwa_planner_ros.h

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* Author: Eitan Marder-Eppstein
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#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
#define DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
#include <angles/angles.h>
#include <dwa_local_planner/dwa_planner.h>
#include <boost/shared_ptr.hpp>
#include <nav_core/base_local_planner.h>

namespace dwa_local_planner {
  class DWAPlannerROS : public nav_core::BaseLocalPlanner {
    public:
      DWAPlannerROS() : costmap_ros_(NULL), tf_(NULL), initialized_(false) {}

      void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros);

      bool isGoalReached();

      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);

      bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);

    private:
      inline double sign(double x){
        return x < 0.0 ? -1.0 : 1.0;
      }

      bool rotateToGoal(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel);
      bool stopWithAccLimits(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, geometry_msgs::Twist& cmd_vel);

      void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);

      costmap_2d::Costmap2DROS* costmap_ros_;
      tf::TransformListener* tf_;
      double max_vel_th_, min_vel_th_, min_rot_vel_;
      double rot_stopped_vel_, trans_stopped_vel_;
      double yaw_goal_tolerance_, xy_goal_tolerance_;
      bool prune_plan_;
      bool initialized_;
      ros::Subscriber odom_sub_;
      ros::Publisher g_plan_pub_, l_plan_pub_;
      boost::mutex odom_mutex_;
      nav_msgs::Odometry base_odom_;
      boost::shared_ptr<DWAPlanner> dp_;
      std::vector<geometry_msgs::PoseStamped> global_plan_;
      bool rotating_to_goal_;
      bool latch_xy_goal_tolerance_, xy_tolerance_latch_;
  };
};
#endif