dlux_global_planner::PlannerNode Class Reference

Demonstration/debug tool that creates paths between arbitrary points. More...

List of all members.

Public Member Functions
	PlannerNode ()
	~PlannerNode ()
Private Member Functions
void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
void	plan ()
void	poseCB (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &goal)
void	publishPointMarker (nav_2d_msgs::Pose2DStamped pose, bool start)
Private Attributes
double	blue_
nav_core2::Costmap::Ptr	costmap_
pluginlib::ClassLoader < nav_core2::Costmap >	costmap_loader_
nav_2d_msgs::Pose2DStamped	goal_
ros::Subscriber	goal_sub_
dlux_global_planner::DluxGlobalPlanner	gp_
double	green_
bool	has_goal_
bool	has_start_
std::string	marker_ns_
ros::Publisher	marker_pub_
ros::Subscriber	pose_sub_
double	red_
nav_2d_msgs::Pose2DStamped	start_
TFListenerPtr	tf_

---

Detailed Description

Demonstration/debug tool that creates paths between arbitrary points.

This node will * load a costmap from the `global_costmap` namespace * initialize the dlux_global_planner from the `planner` namespace * listen on the `/initialpose` and `/move_base_simple/goal` topics for the start and goal poses respectively * run the global planner between those poses * publish the plan as a Path and as Markers

You can set the color of the markers with the red/green/blue parameters and you can set their namespace with the marker_ns parameter.

Definition at line 60 of file planner_node.cpp.

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Constructor & Destructor Documentation

dlux_global_planner::PlannerNode::PlannerNode

(

)

[inline]

Definition at line 63 of file planner_node.cpp.

dlux_global_planner::PlannerNode::~PlannerNode

(

)

[inline]

Definition at line 85 of file planner_node.cpp.

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Member Function Documentation

void dlux_global_planner::PlannerNode::goalCB

(

const geometry_msgs::PoseStamped::ConstPtr &

goal

)

[inline, private]

Definition at line 90 of file planner_node.cpp.

void dlux_global_planner::PlannerNode::plan

(

)

[inline, private]

Definition at line 108 of file planner_node.cpp.

void dlux_global_planner::PlannerNode::poseCB

(

const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &

goal

)

[inline, private]

Definition at line 98 of file planner_node.cpp.

void dlux_global_planner::PlannerNode::publishPointMarker	(	nav_2d_msgs::Pose2DStamped	pose,
		bool	start
	)		[inline, private]

Definition at line 152 of file planner_node.cpp.

---

Member Data Documentation

double dlux_global_planner::PlannerNode::blue_ [private]

Definition at line 183 of file planner_node.cpp.

nav_core2::Costmap::Ptr dlux_global_planner::PlannerNode::costmap_ [private]

Definition at line 176 of file planner_node.cpp.

pluginlib::ClassLoader<nav_core2::Costmap> dlux_global_planner::PlannerNode::costmap_loader_ [private]

Definition at line 177 of file planner_node.cpp.

nav_2d_msgs::Pose2DStamped dlux_global_planner::PlannerNode::goal_ [private]

Definition at line 180 of file planner_node.cpp.

ros::Subscriber dlux_global_planner::PlannerNode::goal_sub_ [private]

Definition at line 172 of file planner_node.cpp.

dlux_global_planner::DluxGlobalPlanner dlux_global_planner::PlannerNode::gp_ [private]

Definition at line 178 of file planner_node.cpp.

double dlux_global_planner::PlannerNode::green_ [private]

Definition at line 183 of file planner_node.cpp.

bool dlux_global_planner::PlannerNode::has_goal_ [private]

Definition at line 181 of file planner_node.cpp.

bool dlux_global_planner::PlannerNode::has_start_ [private]

Definition at line 181 of file planner_node.cpp.

std::string dlux_global_planner::PlannerNode::marker_ns_ [private]

Definition at line 184 of file planner_node.cpp.

ros::Publisher dlux_global_planner::PlannerNode::marker_pub_ [private]

Definition at line 173 of file planner_node.cpp.

ros::Subscriber dlux_global_planner::PlannerNode::pose_sub_ [private]

Definition at line 172 of file planner_node.cpp.

double dlux_global_planner::PlannerNode::red_ [private]

Definition at line 183 of file planner_node.cpp.

nav_2d_msgs::Pose2DStamped dlux_global_planner::PlannerNode::start_ [private]

Definition at line 180 of file planner_node.cpp.

TFListenerPtr dlux_global_planner::PlannerNode::tf_ [private]

Definition at line 175 of file planner_node.cpp.

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

• planner_node.cpp