explore.h

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#ifndef NAV_EXPLORE_H_
#define NAV_EXPLORE_H_

#include <ros/ros.h>
#include <explore_hrl/isDone_srv.h>  // service type
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/GetMap.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <costmap_2d/costmap_2d.h>
#include <navfn/navfn_ros.h>
#include <explore_hrl/explore_frontier.h>
#include <explore_hrl/loop_closure.h>
#include <visualization_msgs/MarkerArray.h>
#include <vector>
#include <string>
#include <boost/thread/mutex.hpp>


namespace explore {

class Explore {
public:
  Explore();

  virtual ~Explore();

  void execute();

  void spin();

  void setPreemptFlag( bool state );

  bool doneExploring( );

private:
  void makePlan();


  void publishGoal(const geometry_msgs::Pose& goal);

  void publishMap();

  void getRobotPose(std::string frame, tf::Stamped<tf::Pose>& pose);

  void reachedGoal(const actionlib::SimpleClientGoalState& status, const move_base_msgs::MoveBaseResultConstPtr& result, geometry_msgs::PoseStamped frontier_goal);

//  void resetCostmaps(double size_x, double size_y);

  bool mapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res);

  bool isDone( explore_hrl::isDone_srv::Request &req,
               explore_hrl::isDone_srv::Response &res );


  bool goalOnBlacklist(const geometry_msgs::PoseStamped& goal);

  bool isRepeatGoal(const geometry_msgs::PoseStamped& goal);  // Prevent duplicate goals

  ros::NodeHandle node_;
  ros::ServiceServer isDone_srv_;
  tf::TransformListener tf_;
  costmap_2d::Costmap2DROS* explore_costmap_ros_;

  geometry_msgs::PoseStamped goal_pose_last_;
  bool goal_pose_last_defined_;

  actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;

  navfn::NavfnROS* planner_;
  std::string robot_base_frame_;
  bool done_exploring_;
  bool preempt_;

  ros::Publisher marker_publisher_;
  ros::Publisher marker_array_publisher_;
  ros::Publisher map_publisher_;
  ros::ServiceServer map_server_;

  ExploreFrontier* explorer_;

  tf::Stamped<tf::Pose> global_pose_;
  double graph_update_frequency_;
  int    visualize_;
  LoopClosure* loop_closure_;
  std::vector<geometry_msgs::PoseStamped> frontier_blacklist_;
  double potential_scale_, orientation_scale_, gain_scale_;
  boost::mutex client_mutex_;
};

}

#endif