explore.h
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00036 #ifndef NAV_EXPLORE_H_
00037 #define NAV_EXPLORE_H_
00038 
00039 #include <ros/ros.h>
00040 #include <move_base_msgs/MoveBaseAction.h>
00041 #include <actionlib/client/simple_action_client.h>
00042 #include <geometry_msgs/PoseStamped.h>
00043 #include <nav_msgs/GetMap.h>
00044 #include <costmap_2d/costmap_2d_ros.h>
00045 #include <costmap_2d/costmap_2d.h>
00046 #include <navfn/navfn_ros.h>
00047 #include <explore/explore_frontier.h>
00048 #include <explore/loop_closure.h>
00049 #include <visualization_msgs/MarkerArray.h>
00050 #include <vector>
00051 #include <string>
00052 #include <boost/thread/mutex.hpp>
00053 
00054 
00055 namespace explore {
00056 
00061 class Explore {
00062 public:
00067   Explore();
00068 
00072   virtual ~Explore();
00073 
00080 //  virtual robot_actions::ResultStatus execute(const ExploreGoal& goal, ExploreFeedback& feedback);
00081   void execute();
00082 
00083   void spin();
00084 
00085 private:
00089   void makePlan();
00090 
00095   void publishGoal(const geometry_msgs::Pose& goal);
00096 
00100   void publishMap();
00101 
00102   void reachedGoal(const actionlib::SimpleClientGoalState& status, const move_base_msgs::MoveBaseResultConstPtr& result, geometry_msgs::PoseStamped frontier_goal);
00103 
00107 //  void resetCostmaps(double size_x, double size_y);
00108 
00109   bool mapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res);
00110 
00111   bool goalOnBlacklist(const geometry_msgs::PoseStamped& goal);
00112 
00113   ros::NodeHandle node_;
00114   tf::TransformListener tf_;
00115   costmap_2d::Costmap2DROS* explore_costmap_ros_;
00116 
00117   actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
00118 
00119   navfn::NavfnROS* planner_;
00120   std::string robot_base_frame_;
00121   bool done_exploring_;
00122 
00123   ros::Publisher marker_publisher_;
00124   ros::Publisher marker_array_publisher_;
00125   ros::Publisher map_publisher_;
00126   ros::ServiceServer map_server_;
00127 
00128   ExploreFrontier* explorer_;
00129 
00130   tf::Stamped<tf::Pose> global_pose_;
00131   double planner_frequency_;
00132   int    visualize_;
00133   LoopClosure* loop_closure_;
00134   std::vector<geometry_msgs::PoseStamped> frontier_blacklist_;
00135   geometry_msgs::PoseStamped prev_goal_;
00136   unsigned int prev_plan_size_;
00137   double time_since_progress_, progress_timeout_;
00138   double potential_scale_, orientation_scale_, gain_scale_;
00139   boost::mutex client_mutex_;
00140   bool   close_loops_;
00141 };
00142 
00143 }
00144 
00145 #endif
00146 


explore
Author(s): Charles DuHadway (maintained by Benjamin Pitzer)
autogenerated on Thu Jan 2 2014 11:19:32