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 base_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.
TrajectoryPlanner *	getPlanner () const
	Return the inner TrajectoryPlanner object. Only valid after initialize().
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.
bool	isInitialized ()
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
std::vector< double >	loadYVels (ros::NodeHandle node)
void	reconfigureCB (BaseLocalPlannerConfig &config, uint32_t level)
	Callback to update the local planner's parameters based on dynamic reconfigure.
bool	rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel)
	Once a goal position is reached... rotate to the goal orientation.
double	sign (double x)
bool	stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel)
	Stop the robot taking into account acceleration limits.
Private Attributes
double	acc_lim_theta_
double	acc_lim_x_
double	acc_lim_y_
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.
base_local_planner::BaseLocalPlannerConfig	default_config_
dynamic_reconfigure::Server < BaseLocalPlannerConfig > *	dsrv_
std::vector< geometry_msgs::Point >	footprint_spec_
ros::Publisher	g_plan_pub_
std::string	global_frame_
	The frame in which the controller will run.
std::vector < geometry_msgs::PoseStamped >	global_plan_
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.
double	max_vel_th_
double	min_in_place_vel_th_
double	min_vel_th_
base_local_planner::OdometryHelperRos	odom_helper_
boost::recursive_mutex	odom_lock_
bool	prune_plan_
bool	reached_goal_
std::string	robot_base_frame_
	Used as the base frame id of the robot.
double	rot_stopped_velocity_
bool	rotating_to_goal_
bool	setup_
double	sim_period_
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 80 of file trajectory_planner_ros.h.

Constructor & Destructor Documentation

base_local_planner::TrajectoryPlannerROS::TrajectoryPlannerROS ( )

Default constructor for the ros wrapper.

Definition at line 74 of file trajectory_planner_ros.cpp.

base_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 77 of file trajectory_planner_ros.cpp.

base_local_planner::TrajectoryPlannerROS::~TrajectoryPlannerROS ( )

Destructor for the wrapper.

Definition at line 279 of file trajectory_planner_ros.cpp.

Member Function Documentation

bool base_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 535 of file trajectory_planner_ros.cpp.

bool base_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 379 of file trajectory_planner_ros.cpp.

TrajectoryPlanner* base_local_planner::TrajectoryPlannerROS::getPlanner ( ) const [inline]

Return the inner TrajectoryPlanner object. Only valid after initialize().

Definition at line 163 of file trajectory_planner_ros.h.

void base_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 84 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved.

Returns:: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 597 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::isInitialized ( ) [inline]

Definition at line 158 of file trajectory_planner_ros.h.

std::vector< double > base_local_planner::TrajectoryPlannerROS::loadYVels ( ros::NodeHandle node ) [private]

Definition at line 255 of file trajectory_planner_ros.cpp.

void base_local_planner::TrajectoryPlannerROS::reconfigureCB	(	BaseLocalPlannerConfig &	config,
		uint32_t	level
	)		`[private]`

Callback to update the local planner's parameters based on dynamic reconfigure.

Definition at line 60 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::rotateToGoal	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		double	goal_th,
		geometry_msgs::Twist &	cmd_vel
	)		`[private]`

Once a goal position is reached... rotate to the goal orientation.

Parameters:

global_pose	The pose of the robot in the global frame
robot_vel	The velocity of the robot
goal_th	The desired th value for the goal
cmd_vel	The velocity commands to be filled

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

Definition at line 319 of file trajectory_planner_ros.cpp.

double base_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

Returns:: score of trajectory (double)

Definition at line 566 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & orig_global_plan ) [virtual]

Set the plan that the controller is following.

Parameters:

orig_global_plan The plan to pass to the controller

Returns:: True if the plan was updated successfully, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 362 of file trajectory_planner_ros.cpp.

double base_local_planner::TrajectoryPlannerROS::sign ( double x ) [inline, private]

Definition at line 192 of file trajectory_planner_ros.h.

bool base_local_planner::TrajectoryPlannerROS::stopWithAccLimits	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		geometry_msgs::Twist &	cmd_vel
	)		`[private]`