A version of DWBLocalPlanner with ROS services for the major components. More...
#include <debug_dwb_local_planner.h>
Public Member Functions | |
| void | initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override |
| Override the DWB constructor to also advertise the services. | |
Protected Member Functions | |
| bool | debugLocalPlanService (dwb_msgs::DebugLocalPlan::Request &req, dwb_msgs::DebugLocalPlan::Response &res) |
| bool | generateTrajectoryService (dwb_msgs::GenerateTrajectory::Request &req, dwb_msgs::GenerateTrajectory::Response &res) |
| bool | generateTwistsService (dwb_msgs::GenerateTwists::Request &req, dwb_msgs::GenerateTwists::Response &res) |
| TrajectoryCritic::Ptr | getCritic (std::string name) |
| bool | getCriticScoreService (dwb_msgs::GetCriticScore::Request &req, dwb_msgs::GetCriticScore::Response &res) |
| bool | scoreTrajectoryService (dwb_msgs::ScoreTrajectory::Request &req, dwb_msgs::ScoreTrajectory::Response &res) |
Protected Attributes | |
| ros::ServiceServer | critic_service_ |
| ros::ServiceServer | debug_service_ |
| ros::ServiceServer | generate_traj_service_ |
| ros::ServiceServer | score_service_ |
| ros::ServiceServer | twist_gen_service_ |
Detailed Description
A version of DWBLocalPlanner with ROS services for the major components.
Advertises three services: GenerateTwists, GenerateTrajectory and DebugLocalPlan
Definition at line 54 of file debug_dwb_local_planner.h.
Member Function Documentation
| bool dwb_local_planner::DebugDWBLocalPlanner::debugLocalPlanService | ( | dwb_msgs::DebugLocalPlan::Request & | req, |
| dwb_msgs::DebugLocalPlan::Response & | res | ||
| ) | [protected] |
Definition at line 124 of file debug_dwb_local_planner.cpp.
| bool dwb_local_planner::DebugDWBLocalPlanner::generateTrajectoryService | ( | dwb_msgs::GenerateTrajectory::Request & | req, |
| dwb_msgs::GenerateTrajectory::Response & | res | ||
| ) | [protected] |
Definition at line 68 of file debug_dwb_local_planner.cpp.
| bool dwb_local_planner::DebugDWBLocalPlanner::generateTwistsService | ( | dwb_msgs::GenerateTwists::Request & | req, |
| dwb_msgs::GenerateTwists::Response & | res | ||
| ) | [protected] |
Definition at line 61 of file debug_dwb_local_planner.cpp.
| TrajectoryCritic::Ptr dwb_local_planner::DebugDWBLocalPlanner::getCritic | ( | std::string | name | ) | [protected] |
Definition at line 88 of file debug_dwb_local_planner.cpp.
| bool dwb_local_planner::DebugDWBLocalPlanner::getCriticScoreService | ( | dwb_msgs::GetCriticScore::Request & | req, |
| dwb_msgs::GetCriticScore::Response & | res | ||
| ) | [protected] |
Definition at line 98 of file debug_dwb_local_planner.cpp.
| void dwb_local_planner::DebugDWBLocalPlanner::initialize | ( | const ros::NodeHandle & | parent, |
| const std::string & | name, | ||
| TFListenerPtr | tf, | ||
| nav_core2::Costmap::Ptr | costmap | ||
| ) | [override] |
Override the DWB constructor to also advertise the services.
Reimplemented from dwb_local_planner::DWBLocalPlanner.
Definition at line 44 of file debug_dwb_local_planner.cpp.
| bool dwb_local_planner::DebugDWBLocalPlanner::scoreTrajectoryService | ( | dwb_msgs::ScoreTrajectory::Request & | req, |
| dwb_msgs::ScoreTrajectory::Response & | res | ||
| ) | [protected] |
Definition at line 75 of file debug_dwb_local_planner.cpp.
Member Data Documentation
Definition at line 76 of file debug_dwb_local_planner.h.
Definition at line 76 of file debug_dwb_local_planner.h.
Definition at line 76 of file debug_dwb_local_planner.h.
Definition at line 76 of file debug_dwb_local_planner.h.
Definition at line 76 of file debug_dwb_local_planner.h.
The documentation for this class was generated from the following files: