A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...

#include <trajectory_planner_ros.h>

Inheritance diagram for iri_ackermann_local_planner::TrajectoryPlannerROS:

Public Member Functions
bool	checkTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)
	Generate and score a single trajectory.
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.
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.
double	scoreTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)
	Generate and score a single trajectory.
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following.
	TrajectoryPlannerROS ()
	Default constructor for the ros wrapper.
	TrajectoryPlannerROS (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
	~TrajectoryPlannerROS ()
	Destructor for the wrapper.
Private Member Functions
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	Stop the robot taking into account acceleration limits.
void	reconfigureCB (AckermannLocalPlannerConfig &config, uint32_t level)
	Callback for dynamic_reconfigure.
double	sign (double x)
Private Attributes
geometry_msgs::Twist	ackermann_state_
nav_msgs::Odometry	base_odom_
	Used to get the velocity of the robot.
costmap_2d::Costmap2D	costmap_
	The costmap the controller will use.
costmap_2d::Costmap2DROS *	costmap_ros_
	The ROS wrapper for the costmap the controller will use.
iri_ackermann_local_planner::AckermannLocalPlannerConfig	default_config_
dynamic_reconfigure::Server < AckermannLocalPlannerConfig > *	dsrv_
ros::Publisher	g_plan_pub_
std::string	global_frame_
	The frame in which the controller will run.
std::vector < geometry_msgs::PoseStamped >	global_plan_
double	inflation_radius_
bool	initialized_
ros::Publisher	l_plan_pub_
bool	latch_xy_goal_tolerance_
MapGridVisualizer	map_viz_
	The map grid visualizer for outputting the potential field generated by the cost function.
double	max_sensor_range_
	Keep track of the effective maximum range of our sensors.
boost::recursive_mutex	odom_lock_
ros::Subscriber	odom_sub_
bool	prune_plan_
std::string	robot_base_frame_
	Used as the base frame id of the robot.
double	rot_stopped_velocity_
bool	rotating_to_goal_
bool	setup_
std::vector < geometry_msgs::PoseStamped >	subPath
unsigned int	subPathIndex
std::vector< std::vector < geometry_msgs::PoseStamped > >	subPathList
TrajectoryPlanner *	tc_
	The trajectory controller.
tf::TransformListener *	tf_
	Used for transforming point clouds.
double	trans_stopped_velocity_
WorldModel *	world_model_
	The world model that the controller will use.
double	xy_goal_tolerance_
bool	xy_tolerance_latch_
double	yaw_goal_tolerance_

Detailed Description

A ROS wrapper for the trajectory controller that queries the param server to construct a controller.

Definition at line 78 of file trajectory_planner_ros.h.

Constructor & Destructor Documentation

iri_ackermann_local_planner::TrajectoryPlannerROS::TrajectoryPlannerROS ( )

Default constructor for the ros wrapper.

Definition at line 71 of file trajectory_planner_ros.cpp.

iri_ackermann_local_planner::TrajectoryPlannerROS::TrajectoryPlannerROS	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

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

Definition at line 75 of file trajectory_planner_ros.cpp.

iri_ackermann_local_planner::TrajectoryPlannerROS::~TrajectoryPlannerROS ( )

Destructor for the wrapper.

Definition at line 179 of file trajectory_planner_ros.cpp.

Member Function Documentation

bool iri_ackermann_local_planner::TrajectoryPlannerROS::checkTrajectory	(	double	vx_samp,
		double	vy_samp,
		double	vtheta_samp,
		bool	update_map = `true`
	)

Generate and score a single trajectory.

Parameters:

vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory
update_map	Whether or not to update the map for the planner when computing the legality of the trajectory, this is useful to set to false if you're going to be doing a lot of trajectory checking over a short period of time

Returns:: True if the trajectory is legal, false otherwise

Definition at line 400 of file trajectory_planner_ros.cpp.

bool iri_ackermann_local_planner::TrajectoryPlannerROS::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 262 of file trajectory_planner_ros.cpp.

void iri_ackermann_local_planner::TrajectoryPlannerROS::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 81 of file trajectory_planner_ros.cpp.

bool iri_ackermann_local_planner::TrajectoryPlannerROS::isGoalReached ( void ) [virtual]

Check if the goal pose has been achieved.

Returns:: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 474 of file trajectory_planner_ros.cpp.

void iri_ackermann_local_planner::TrajectoryPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Stop the robot taking into account acceleration limits.

Parameters:

global_pose	The pose of the robot in the global frame
robot_vel	The velocity of the robot
cmd_vel	The velocity commands to be filled

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

Definition at line 190 of file trajectory_planner_ros.cpp.

void iri_ackermann_local_planner::TrajectoryPlannerROS::reconfigureCB	(	AckermannLocalPlannerConfig &	config,
		uint32_t	level
	)		`[private]`

Callback for dynamic_reconfigure.

Definition at line 56 of file trajectory_planner_ros.cpp.

double iri_ackermann_local_planner::TrajectoryPlannerROS::scoreTrajectory	(	double	vx_samp,
		double	vy_samp,
		double	vtheta_samp,
		bool	update_map = `true`
	)

Generate and score a single trajectory.

Parameters:

vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory
update_map	Whether or not to update the map for the planner when computing the legality of the trajectory, this is useful to set to false if you're going to be doing a lot of trajectory checking over a short period of time