explore.h

Go to the documentation of this file.

/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Robert Bosch LLC.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Robert Bosch nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *********************************************************************/
#ifndef NAV_EXPLORE_H_
#define NAV_EXPLORE_H_

#include <ros/ros.h>
#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/explore_frontier.h>
#include <explore/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();

//  virtual robot_actions::ResultStatus execute(const ExploreGoal& goal, ExploreFeedback& feedback);
  void execute();

  void spin();

private:
  void makePlan();

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

  void publishMap();

  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 goalOnBlacklist(const geometry_msgs::PoseStamped& goal);

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

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

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

  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 planner_frequency_;
  int    visualize_;
  LoopClosure* loop_closure_;
  std::vector<geometry_msgs::PoseStamped> frontier_blacklist_;
  geometry_msgs::PoseStamped prev_goal_;
  unsigned int prev_plan_size_;
  double time_since_progress_, progress_timeout_;
  double potential_scale_, orientation_scale_, gain_scale_;
  boost::mutex client_mutex_;
  bool   close_loops_;
};

}

#endif