A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. More...

#include <move_base.h>

Public Member Functions
bool	executeCycle (geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Performs a control cycle.
	MoveBase (tf::TransformListener &tf)
	Constructor for the actions.
virtual	~MoveBase ()
	Destructor - Cleans up.
Private Member Functions
bool	clearCostmapsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	A service call that clears the costmaps of obstacles.
void	clearCostmapWindows (double size_x, double size_y)
	Clears obstacles within a window around the robot.
double	distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
void	executeCb (const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal)
void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
geometry_msgs::PoseStamped	goalToGlobalFrame (const geometry_msgs::PoseStamped &goal_pose_msg)
bool	isQuaternionValid (const geometry_msgs::Quaternion &q)
void	loadDefaultRecoveryBehaviors ()
	Loads the default recovery behaviors for the navigation stack.
bool	loadRecoveryBehaviors (ros::NodeHandle node)
	Load the recovery behaviors for the navigation stack from the parameter server.
bool	makePlan (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Make a new global plan.
bool	planService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
	A service call that can be made when the action is inactive that will return a plan.
void	planThread ()
void	publishZeroVelocity ()
	Publishes a velocity command of zero to the base.
void	reconfigureCB (move_base::MoveBaseConfig &config, uint32_t level)
void	resetState ()
	Reset the state of the move_base action and send a zero velocity command to the base.
void	wakePlanner (const ros::TimerEvent &event)
	This is used to wake the planner at periodic intervals.
Private Attributes
ros::Publisher	action_goal_pub_
MoveBaseActionServer *	as_
pluginlib::ClassLoader < nav_core::BaseGlobalPlanner >	bgp_loader_
pluginlib::ClassLoader < nav_core::BaseLocalPlanner >	blp_loader_
bool	c_freq_change_
double	circumscribed_radius_
ros::ServiceServer	clear_costmaps_srv_
double	clearing_radius_
bool	clearing_rotation_allowed_
boost::recursive_mutex	configuration_mutex_
double	conservative_reset_dist_
costmap_2d::Costmap2DROS *	controller_costmap_ros_
double	controller_frequency_
double	controller_patience_
std::vector < geometry_msgs::PoseStamped > *	controller_plan_
ros::Publisher	current_goal_pub_
move_base::MoveBaseConfig	default_config_
dynamic_reconfigure::Server < move_base::MoveBaseConfig > *	dsrv_
std::string	global_frame_
tf::Stamped< tf::Pose >	global_pose_
ros::Subscriber	goal_sub_
double	inscribed_radius_
move_base::MoveBaseConfig	last_config_
ros::Time	last_oscillation_reset_
ros::Time	last_valid_control_
ros::Time	last_valid_plan_
std::vector < geometry_msgs::PoseStamped > *	latest_plan_
ros::ServiceServer	make_plan_srv_
bool	new_global_plan_
double	oscillation_distance_
geometry_msgs::PoseStamped	oscillation_pose_
double	oscillation_timeout_
bool	p_freq_change_
boost::shared_ptr < nav_core::BaseGlobalPlanner >	planner_
boost::condition_variable	planner_cond_
costmap_2d::Costmap2DROS *	planner_costmap_ros_
double	planner_frequency_
geometry_msgs::PoseStamped	planner_goal_
boost::mutex	planner_mutex_
double	planner_patience_
std::vector < geometry_msgs::PoseStamped > *	planner_plan_
boost::thread *	planner_thread_
bool	recovery_behavior_enabled_
std::vector< boost::shared_ptr < nav_core::RecoveryBehavior > >	recovery_behaviors_
unsigned int	recovery_index_
pluginlib::ClassLoader < nav_core::RecoveryBehavior >	recovery_loader_
RecoveryTrigger	recovery_trigger_
std::string	robot_base_frame_
bool	runPlanner_
bool	setup_
bool	shutdown_costmaps_
MoveBaseState	state_
boost::shared_ptr < nav_core::BaseLocalPlanner >	tc_
tf::TransformListener &	tf_
ros::Publisher	vel_pub_

Detailed Description

A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location.

Definition at line 83 of file move_base.h.

Constructor & Destructor Documentation

move_base::MoveBase::MoveBase ( tf::TransformListener & tf )

Constructor for the actions.

Parameters:

name	The name of the action
tf	A reference to a TransformListener

Definition at line 48 of file move_base.cpp.

move_base::MoveBase::~MoveBase ( ) [virtual]

Destructor - Cleans up.

Definition at line 480 of file move_base.cpp.

Member Function Documentation

bool move_base::MoveBase::clearCostmapsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		`[private]`

A service call that clears the costmaps of obstacles.

Parameters:

req	The service request
resp	The service response

Returns:: True if the service call succeeds, false otherwise

Definition at line 384 of file move_base.cpp.

void move_base::MoveBase::clearCostmapWindows	(	double	size_x,
		double	size_y
	)		`[private]`

Clears obstacles within a window around the robot.

Parameters:

size_x	The x size of the window
size_y	The y size of the window

Definition at line 329 of file move_base.cpp.

double move_base::MoveBase::distance	(	const geometry_msgs::PoseStamped &	p1,
		const geometry_msgs::PoseStamped &	p2
	)		`[private]`

Definition at line 821 of file move_base.cpp.

void move_base::MoveBase::executeCb ( const move_base_msgs::MoveBaseGoalConstPtr & move_base_goal ) [private]

Definition at line 678 of file move_base.cpp.

bool move_base::MoveBase::executeCycle	(	geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Performs a control cycle.

Parameters:

goal	A reference to the goal to pursue
global_plan	A reference to the global plan being used

Returns:: True if processing of the goal is done, false otherwise

Definition at line 826 of file move_base.cpp.

void move_base::MoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr & goal ) [private]

Definition at line 320 of file move_base.cpp.

geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame ( const geometry_msgs::PoseStamped & goal_pose_msg ) [private]

Definition at line 574 of file move_base.cpp.

bool move_base::MoveBase::isQuaternionValid ( const geometry_msgs::Quaternion & q ) [private]

Definition at line 544 of file move_base.cpp.

void move_base::MoveBase::loadDefaultRecoveryBehaviors ( ) [private]

Loads the default recovery behaviors for the navigation stack.

Definition at line 1117 of file move_base.cpp.

bool move_base::MoveBase::loadRecoveryBehaviors ( ros::NodeHandle node ) [private]

Load the recovery behaviors for the navigation stack from the parameter server.

Parameters:

node	The ros::NodeHandle to be used for loading parameters

Returns:: True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 1032 of file move_base.cpp.

bool move_base::MoveBase::makePlan	(	const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)		`[private]`

Make a new global plan.

Parameters:

goal	The goal to plan to
plan	Will be filled in with the plan made by the planner

Returns:: True if planning succeeds, false otherwise

Definition at line 505 of file move_base.cpp.

bool move_base::MoveBase::planService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)		`[private]`

A service call that can be made when the action is inactive that will return a plan.

Parameters:

req	The goal request
resp	The plan request

Returns:: True if planning succeeded, false otherwise

Definition at line 392 of file move_base.cpp.

void move_base::MoveBase::planThread ( ) [private]

Definition at line 603 of file move_base.cpp.

void move_base::MoveBase::publishZeroVelocity ( ) [private]

Publishes a velocity command of zero to the base.

Definition at line 536 of file move_base.cpp.

void move_base::MoveBase::reconfigureCB	(	move_base::MoveBaseConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 203 of file move_base.cpp.

void move_base::MoveBase::resetState ( ) [private]

Reset the state of the move_base action and send a zero velocity command to the base.

Definition at line 1153 of file move_base.cpp.

void move_base::MoveBase::wakePlanner ( const ros::TimerEvent & event ) [private]

This is used to wake the planner at periodic intervals.

Definition at line 597 of file move_base.cpp.

Member Data Documentation

ros::Publisher move_base::MoveBase::action_goal_pub_ [private]

Definition at line 193 of file move_base.h.

MoveBaseActionServer* move_base::MoveBase::as_ [private]

Definition at line 178 of file move_base.h.

pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> move_base::MoveBase::bgp_loader_ [private]

Definition at line 204 of file move_base.h.

pluginlib::ClassLoader<nav_core::BaseLocalPlanner> move_base::MoveBase::blp_loader_ [private]

Definition at line 205 of file move_base.h.

bool move_base::MoveBase::c_freq_change_ [private]

Definition at line 228 of file move_base.h.

double move_base::MoveBase::circumscribed_radius_ [private]

Definition at line 190 of file move_base.h.

ros::ServiceServer move_base::MoveBase::clear_costmaps_srv_ [private]

Definition at line 195 of file move_base.h.

double move_base::MoveBase::clearing_radius_ [private]

Definition at line 192 of file move_base.h.

bool move_base::MoveBase::clearing_rotation_allowed_ [private]

Definition at line 196 of file move_base.h.

boost::recursive_mutex move_base::MoveBase::configuration_mutex_ [private]

Definition at line 221 of file move_base.h.

double move_base::MoveBase::conservative_reset_dist_ [private]

Definition at line 192 of file move_base.h.

costmap_2d::Costmap2DROS * move_base::MoveBase::controller_costmap_ros_ [private]

Definition at line 181 of file move_base.h.

double move_base::MoveBase::controller_frequency_ [private]

Definition at line 190 of file move_base.h.

double move_base::MoveBase::controller_patience_ [private]

Definition at line 191 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::controller_plan_ [private]

Definition at line 211 of file move_base.h.

ros::Publisher move_base::MoveBase::current_goal_pub_ [private]

Definition at line 193 of file move_base.h.

move_base::MoveBaseConfig move_base::MoveBase::default_config_ [private]

Definition at line 227 of file move_base.h.

dynamic_reconfigure::Server<move_base::MoveBaseConfig>* move_base::MoveBase::dsrv_ [private]

Definition at line 222 of file move_base.h.

std::string move_base::MoveBase::global_frame_ [private]

Definition at line 184 of file move_base.h.

tf::Stamped<tf::Pose> move_base::MoveBase::global_pose_ [private]

Definition at line 189 of file move_base.h.

ros::Subscriber move_base::MoveBase::goal_sub_ [private]

Definition at line 194 of file move_base.h.

double move_base::MoveBase::inscribed_radius_ [private]

Definition at line 190 of file move_base.h.

move_base::MoveBaseConfig move_base::MoveBase::last_config_ [private]

Definition at line 226 of file move_base.h.

ros::Time move_base::MoveBase::last_oscillation_reset_ [private]

Definition at line 202 of file move_base.h.

ros::Time move_base::MoveBase::last_valid_control_ [private]

Definition at line 202 of file move_base.h.

ros::Time move_base::MoveBase::last_valid_plan_ [private]

Definition at line 202 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::latest_plan_ [private]

Definition at line 210 of file move_base.h.

ros::ServiceServer move_base::MoveBase::make_plan_srv_ [private]

Definition at line 195 of file move_base.h.

bool move_base::MoveBase::new_global_plan_ [private]

Definition at line 229 of file move_base.h.

double move_base::MoveBase::oscillation_distance_ [private]

Definition at line 197 of file move_base.h.

geometry_msgs::PoseStamped move_base::MoveBase::oscillation_pose_ [private]

Definition at line 203 of file move_base.h.

double move_base::MoveBase::oscillation_timeout_ [private]

Definition at line 197 of file move_base.h.

bool move_base::MoveBase::p_freq_change_ [private]

Definition at line 228 of file move_base.h.

boost::shared_ptr<nav_core::BaseGlobalPlanner> move_base::MoveBase::planner_ [private]

Definition at line 183 of file move_base.h.

boost::condition_variable move_base::MoveBase::planner_cond_ [private]

Definition at line 216 of file move_base.h.

costmap_2d::Costmap2DROS* move_base::MoveBase::planner_costmap_ros_ [private]

Definition at line 181 of file move_base.h.

double move_base::MoveBase::planner_frequency_ [private]

Definition at line 190 of file move_base.h.

geometry_msgs::PoseStamped move_base::MoveBase::planner_goal_ [private]

Definition at line 217 of file move_base.h.

boost::mutex move_base::MoveBase::planner_mutex_ [private]

Definition at line 215 of file move_base.h.

double move_base::MoveBase::planner_patience_ [private]

Definition at line 191 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::planner_plan_ [private]

Definition at line 209 of file move_base.h.

boost::thread* move_base::MoveBase::planner_thread_ [private]

Definition at line 218 of file move_base.h.

bool move_base::MoveBase::recovery_behavior_enabled_ [private]

Definition at line 196 of file move_base.h.

std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > move_base::MoveBase::recovery_behaviors_ [private]

Definition at line 186 of file move_base.h.

unsigned int move_base::MoveBase::recovery_index_ [private]

Definition at line 187 of file move_base.h.

pluginlib::ClassLoader<nav_core::RecoveryBehavior> move_base::MoveBase::recovery_loader_ [private]

Definition at line 206 of file move_base.h.

RecoveryTrigger move_base::MoveBase::recovery_trigger_ [private]

Definition at line 200 of file move_base.h.

std::string move_base::MoveBase::robot_base_frame_ [private]

Definition at line 184 of file move_base.h.

bool move_base::MoveBase::runPlanner_ [private]

Definition at line 214 of file move_base.h.

bool move_base::MoveBase::setup_ [private]

Definition at line 228 of file move_base.h.

bool move_base::MoveBase::shutdown_costmaps_ [private]

Definition at line 196 of file move_base.h.

MoveBaseState move_base::MoveBase::state_ [private]

Definition at line 199 of file move_base.h.

boost::shared_ptr<nav_core::BaseLocalPlanner> move_base::MoveBase::tc_ [private]

Definition at line 180 of file move_base.h.

tf::TransformListener& move_base::MoveBase::tf_ [private]

Definition at line 176 of file move_base.h.

ros::Publisher move_base::MoveBase::vel_pub_ [private]

Definition at line 193 of file move_base.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation