Plugin-based flexible local_planner. More...

#include <dwb_local_planner.h>

Inheritance diagram for dwb_local_planner::DWBLocalPlanner:

Public Member Functions
nav_2d_msgs::Twist2DStamped	computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) override
	nav_core2 computeVelocityCommands - calculates the best command given the current pose and velocity
virtual nav_2d_msgs::Twist2DStamped	computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity, std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &results)
	Compute the best command given the current pose and velocity, with possible debug information.
	DWBLocalPlanner ()
	Constructor that brings up pluginlib loaders.
void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
	nav_core2 initialization
bool	isGoalReached (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) override
	nav_core2 isGoalReached - Check whether the robot has reached its goal, given the current pose & velocity.
virtual dwb_msgs::TrajectoryScore	scoreTrajectory (const dwb_msgs::Trajectory2D &traj, double best_score=-1)
	Score a given command. Can be used for testing.
void	setGoalPose (const nav_2d_msgs::Pose2DStamped &goal_pose) override
	nav_core2 setGoalPose - Sets the global goal pose
void	setPlan (const nav_2d_msgs::Path2D &path) override
	nav_core2 setPlan - Sets the global plan
virtual	~DWBLocalPlanner ()
Protected Member Functions
virtual dwb_msgs::TrajectoryScore	coreScoringAlgorithm (const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D velocity, std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &results)
	Iterate through all the twists and find the best one.
virtual void	loadCritics (const std::string name)
	Load the critic parameters from the namespace.
virtual void	prepare (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)
	Helper method for preparing for the core scoring algorithm.
std::string	resolveCriticClassName (std::string base_name)
	try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic"
virtual nav_2d_msgs::Path2D	transformGlobalPlan (const nav_2d_msgs::Pose2DStamped &pose)
	Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses.
geometry_msgs::Pose2D	transformPoseToLocal (const nav_2d_msgs::Pose2DStamped &pose)
	Helper method to transform a given pose to the local costmap frame.
Protected Attributes
nav_core2::Costmap::Ptr	costmap_
pluginlib::ClassLoader < TrajectoryCritic >	critic_loader_
std::vector < TrajectoryCritic::Ptr >	critics_
bool	debug_trajectory_details_
std::vector< std::string >	default_critic_namespaces_
nav_2d_msgs::Path2D	global_plan_
	Saved Global Plan.
GoalChecker::Ptr	goal_checker_
pluginlib::ClassLoader < GoalChecker >	goal_checker_loader_
nav_2d_msgs::Pose2DStamped	goal_pose_
	Saved Goal Pose.
ros::NodeHandle	planner_nh_
double	prune_distance_
bool	prune_plan_
DWBPublisher	pub_
bool	short_circuit_trajectory_evaluation_
TFListenerPtr	tf_
pluginlib::ClassLoader < TrajectoryGenerator >	traj_gen_loader_
TrajectoryGenerator::Ptr	traj_generator_
bool	update_costmap_before_planning_

Detailed Description

Plugin-based flexible local_planner.

Definition at line 54 of file dwb_local_planner.h.

Constructor & Destructor Documentation

dwb_local_planner::DWBLocalPlanner::DWBLocalPlanner ( )

Constructor that brings up pluginlib loaders.

Definition at line 51 of file dwb_local_planner.cpp.

virtual dwb_local_planner::DWBLocalPlanner::~DWBLocalPlanner ( ) [inline, virtual]

Definition at line 62 of file dwb_local_planner.h.

Member Function Documentation

nav_2d_msgs::Twist2DStamped dwb_local_planner::DWBLocalPlanner::computeVelocityCommands	(	const nav_2d_msgs::Pose2DStamped &	pose,
		const nav_2d_msgs::Twist2D &	velocity
	)		`[override, virtual]`

nav_core2 computeVelocityCommands - calculates the best command given the current pose and velocity

It is presumed that the global plan is already set.

This is mostly a wrapper for the protected computeVelocityCommands function which has additional debugging info.

Parameters:

pose	Current robot pose
velocity	Current robot velocity

Returns:: The best command for the robot to drive

Implements nav_core2::LocalPlanner.

Definition at line 178 of file dwb_local_planner.cpp.

nav_2d_msgs::Twist2DStamped dwb_local_planner::DWBLocalPlanner::computeVelocityCommands	(	const nav_2d_msgs::Pose2DStamped &	pose,
		const nav_2d_msgs::Twist2D &	velocity,
		std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &	results
	)		`[virtual]`

Compute the best command given the current pose and velocity, with possible debug information.

Same as above computeVelocityCommands, but with debug results. If the results pointer is not null, additional information about the twists evaluated will be in results after the call.

Parameters:

pose	Current robot pose
velocity	Current robot velocity
results	Output param, if not null, will be filled in with full evaluation results

Returns:: Best command

Definition at line 227 of file dwb_local_planner.cpp.

dwb_msgs::TrajectoryScore dwb_local_planner::DWBLocalPlanner::coreScoringAlgorithm	(	const geometry_msgs::Pose2D &	pose,
		const nav_2d_msgs::Twist2D	velocity,
		std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &	results
	)		`[protected, virtual]`

Iterate through all the twists and find the best one.

Definition at line 274 of file dwb_local_planner.cpp.

void dwb_local_planner::DWBLocalPlanner::initialize	(	const ros::NodeHandle &	parent,
		const std::string &	name,
		TFListenerPtr	tf,
		nav_core2::Costmap::Ptr	costmap
	)		`[override]`

nav_core2 initialization

Parameters:

name	Namespace for this planner
tf	TFListener pointer
costmap_ros	Costmap pointer

Reimplemented in dwb_local_planner::DebugDWBLocalPlanner.

Definition at line 58 of file dwb_local_planner.cpp.

bool dwb_local_planner::DWBLocalPlanner::isGoalReached	(	const nav_2d_msgs::Pose2DStamped &	pose,
		const nav_2d_msgs::Twist2D &	velocity
	)		`[override, virtual]`

nav_core2 isGoalReached - Check whether the robot has reached its goal, given the current pose & velocity.

The pose that it checks against is the last pose in the current global plan. The calculation is delegated to the goal_checker plugin.

Parameters:

pose	Current pose
velocity	Current velocity

Returns:: True if the robot should be considered as having reached the goal.

Implements nav_core2::LocalPlanner.

Definition at line 141 of file dwb_local_planner.cpp.

void dwb_local_planner::DWBLocalPlanner::loadCritics ( const std::string name ) [protected, virtual]

Load the critic parameters from the namespace.

Parameters:

name	The namespace of this planner.

Definition at line 112 of file dwb_local_planner.cpp.

void dwb_local_planner::DWBLocalPlanner::prepare	(	const nav_2d_msgs::Pose2DStamped &	pose,
		const nav_2d_msgs::Twist2D &	velocity
	)		`[protected, virtual]`

Helper method for preparing for the core scoring algorithm.

Runs the prepare method on all the critics with freshly transformed data

Definition at line 200 of file dwb_local_planner.cpp.

std::string dwb_local_planner::DWBLocalPlanner::resolveCriticClassName ( std::string base_name ) [protected]

try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic"

Parameters:

base_name The name of the critic as read in from the parameter server

Returns:: Our attempted resolution of the name, with namespace prepended and/or the suffix Critic appended

Definition at line 91 of file dwb_local_planner.cpp.

dwb_msgs::TrajectoryScore dwb_local_planner::DWBLocalPlanner::scoreTrajectory	(	const dwb_msgs::Trajectory2D &	traj,
		double	best_score = `-1`
	)		`[virtual]`

Score a given command. Can be used for testing.

Given a trajectory, calculate the score where lower scores are better. If the given (positive) score exceeds the best_score, calculation may be cut short, as the score can only go up from there.

Parameters:

traj	Trajectory to check
best_score	If positive, the threshold for early termination

Returns:: The full scoring of the input trajectory

Definition at line 350 of file dwb_local_planner.cpp.

void dwb_local_planner::DWBLocalPlanner::setGoalPose ( const nav_2d_msgs::Pose2DStamped & goal_pose ) [override, virtual]

nav_core2 setGoalPose - Sets the global goal pose

Parameters:

goal_pose The Goal Pose

Implements nav_core2::LocalPlanner.

Definition at line 160 of file dwb_local_planner.cpp.

void dwb_local_planner::DWBLocalPlanner::setPlan ( const nav_2d_msgs::Path2D & path ) [override, virtual]

nav_core2 setPlan - Sets the global plan

Parameters:

path	The global plan

Implements nav_core2::LocalPlanner.

Definition at line 172 of file dwb_local_planner.cpp.

nav_2d_msgs::Path2D dwb_local_planner::DWBLocalPlanner::transformGlobalPlan ( const nav_2d_msgs::Pose2DStamped & pose ) [protected, virtual]

Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses.

Three key operations 1) Transforms global plan into frame of the given pose 2) Only returns poses that are near the robot, i.e. whether they are likely on the local costmap 3) If prune_plan_ is true, it will remove all points that we've already passed from both the transformed plan and the saved global_plan_. Technically, it iterates to a pose on the path that is within prune_distance_ of the robot and erases all poses before that.

Definition at line 389 of file dwb_local_planner.cpp.

geometry_msgs::Pose2D dwb_local_planner::DWBLocalPlanner::transformPoseToLocal ( const nav_2d_msgs::Pose2DStamped & pose ) [protected]

Helper method to transform a given pose to the local costmap frame.

Definition at line 475 of file dwb_local_planner.cpp.