dwa_planner_ros.h

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* Author: Eitan Marder-Eppstein
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#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
#define DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_

#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

#include <tf/transform_listener.h>

#include <dynamic_reconfigure/server.h>
#include <dwa_local_planner/DWAPlannerConfig.h>

#include <angles/angles.h>

#include <nav_msgs/Odometry.h>

#include <costmap_2d/costmap_2d_ros.h>
#include <nav_core/base_local_planner.h>
#include <base_local_planner/latched_stop_rotate_controller.h>

#include <base_local_planner/odometry_helper_ros.h>

#include <dwa_local_planner/dwa_planner.h>

namespace dwa_local_planner {
  class DWAPlannerROS : public nav_core::BaseLocalPlanner {
    public:
      DWAPlannerROS();

      void initialize(std::string name, tf::TransformListener* tf,
          costmap_2d::Costmap2DROS* costmap_ros);

      ~DWAPlannerROS();

      bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);


      bool dwaComputeVelocityCommands(tf::Stamped<tf::Pose>& global_pose, geometry_msgs::Twist& cmd_vel);

      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);

      bool isGoalReached();



      bool isInitialized() {
        return initialized_;
      }

    private:
      void reconfigureCB(DWAPlannerConfig &config, uint32_t level);

      void publishLocalPlan(std::vector<geometry_msgs::PoseStamped>& path);

      void publishGlobalPlan(std::vector<geometry_msgs::PoseStamped>& path);

      tf::TransformListener* tf_; 

      // for visualisation, publishers of global and local plan
      ros::Publisher g_plan_pub_, l_plan_pub_;

      base_local_planner::LocalPlannerUtil planner_util_;

      boost::shared_ptr<DWAPlanner> dp_; 

      costmap_2d::Costmap2DROS* costmap_ros_;

      dynamic_reconfigure::Server<DWAPlannerConfig> *dsrv_;
      dwa_local_planner::DWAPlannerConfig default_config_;
      bool setup_;
      tf::Stamped<tf::Pose> current_pose_;

      base_local_planner::LatchedStopRotateController latchedStopRotateController_;


      bool initialized_;


      base_local_planner::OdometryHelperRos odom_helper_;
      std::string odom_topic_;
  };
};
#endif