A class adhering to the robot_actions::Action interface that moves the robot base to explore its environment. More...

#include <explore.h>

Public Member Functions
bool	doneExploring ()
void	execute ()
	Runs whenever a new goal is sent to the move_base.
	Explore ()
	Constructor.
void	setPreemptFlag (bool state)
void	spin ()
virtual	~Explore ()
	Destructor - Cleans up.
Private Member Functions
void	getRobotPose (std::string frame, tf::Stamped< tf::Pose > &pose)
	Get the current pose of the robot in the specified frame.
bool	goalOnBlacklist (const geometry_msgs::PoseStamped &goal)
bool	isDone (explore_hrl::isDone_srv::Request &req, explore_hrl::isDone_srv::Response &res)
	ROS service handler to determine if explorer done exploring.
bool	isRepeatGoal (const geometry_msgs::PoseStamped &goal)
void	makePlan ()
	Make a global plan.
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
	Resets the costmaps to the static map outside a given window.
void	publishGoal (const geometry_msgs::Pose &goal)
	Publish a goal to the visualizer.
void	publishMap ()
	publish map
void	reachedGoal (const actionlib::SimpleClientGoalState &status, const move_base_msgs::MoveBaseResultConstPtr &result, geometry_msgs::PoseStamped frontier_goal)
Private Attributes
boost::mutex	client_mutex_
bool	done_exploring_
costmap_2d::Costmap2DROS *	explore_costmap_ros_
ExploreFrontier *	explorer_
std::vector < geometry_msgs::PoseStamped >	frontier_blacklist_
double	gain_scale_
tf::Stamped< tf::Pose >	global_pose_
geometry_msgs::PoseStamped	goal_pose_last_
bool	goal_pose_last_defined_
double	graph_update_frequency_
ros::ServiceServer	isDone_srv_
LoopClosure *	loop_closure_
ros::Publisher	map_publisher_
ros::ServiceServer	map_server_
ros::Publisher	marker_array_publisher_
ros::Publisher	marker_publisher_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
ros::NodeHandle	node_
double	orientation_scale_
navfn::NavfnROS *	planner_
double	potential_scale_
bool	preempt_
std::string	robot_base_frame_
tf::TransformListener	tf_
int	visualize_

Detailed Description

A class adhering to the robot_actions::Action interface that moves the robot base to explore its environment.

Definition at line 62 of file explore.h.

Constructor & Destructor Documentation

explore::Explore::Explore ( )

Constructor.

Returns:

Definition at line 56 of file explore.cpp.

explore::Explore::~Explore ( ) [virtual]

Destructor - Cleans up.

Definition at line 112 of file explore.cpp.

Member Function Documentation

bool explore::Explore::doneExploring ( )

Definition at line 517 of file explore.cpp.

void explore::Explore::execute ( )

Runs whenever a new goal is sent to the move_base.

Parameters:

goal	The goal to pursue
feedback	Feedback that the action gives to a higher-level monitor, in this case, the position of the robot

Returns:: The result of the execution, ie: Success, Preempted, Aborted, etc.

Definition at line 443 of file explore.cpp.

void explore::Explore::getRobotPose	(	std::string	frame,
		tf::Stamped< tf::Pose > &	pose
	)		`[private]`

Get the current pose of the robot in the specified frame.

Parameters:

frame	The frame to get the pose in
pose	The pose returned

Definition at line 261 of file explore.cpp.

bool explore::Explore::goalOnBlacklist ( const geometry_msgs::PoseStamped & goal ) [private]

Definition at line 415 of file explore.cpp.

bool explore::Explore::isDone	(	explore_hrl::isDone_srv::Request &	req,
		explore_hrl::isDone_srv::Response &	res
	)		`[private]`

ROS service handler to determine if explorer done exploring.

Definition at line 154 of file explore.cpp.

bool explore::Explore::isRepeatGoal ( const geometry_msgs::PoseStamped & goal ) [private]

Definition at line 381 of file explore.cpp.

void explore::Explore::makePlan ( ) [private]

Make a global plan.

Definition at line 284 of file explore.cpp.

bool explore::Explore::mapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Resets the costmaps to the static map outside a given window.

Definition at line 160 of file explore.cpp.

void explore::Explore::publishGoal ( const geometry_msgs::Pose & goal ) [private]

Publish a goal to the visualizer.

Parameters:

goal	The goal to visualize

Definition at line 242 of file explore.cpp.

void explore::Explore::publishMap ( ) [private]

publish map

Definition at line 200 of file explore.cpp.

void explore::Explore::reachedGoal	(	const actionlib::SimpleClientGoalState &	status,
		const move_base_msgs::MoveBaseResultConstPtr &	result,
		geometry_msgs::PoseStamped	frontier_goal
	)		`[private]`