Connect the callbacks in Locomotor to do global and local planning on two separate timers. More...

Public Member Functions
	DoubleThreadLocomotor (const ros::NodeHandle &private_nh)
void	setGoal (nav_2d_msgs::Pose2DStamped goal)
Protected Member Functions
void	controlLoopCallback (const ros::TimerEvent &event)
void	onGlobalCostmapException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onGlobalCostmapUpdate (const ros::Duration &planning_time)
void	onGlobalPlanningException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onLocalCostmapException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onLocalCostmapUpdate (const ros::Duration &planning_time)
void	onLocalPlanningException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onNavigationCompleted ()
void	onNavigationFailure (const locomotor_msgs::ResultCode result)
void	onNewGlobalPlan (nav_2d_msgs::Path2D new_global_plan, const ros::Duration &planning_time)
void	onNewLocalPlan (nav_2d_msgs::Twist2DStamped new_command, const ros::Duration &planning_time)
void	planLoopCallback (const ros::TimerEvent &event)
void	requestGlobalCostmapUpdate ()
void	requestNavigationFailure (const locomotor_msgs::ResultCode &result)
Protected Attributes
LocomotorActionServer	as_
ros::Timer	control_loop_timer_
ros::Duration	desired_control_duration_
ros::Duration	desired_plan_duration_
Executor	global_planning_ex_
Executor	local_planning_ex_
Locomotor	locomotor_
ros::Timer	plan_loop_timer_
ros::NodeHandle	private_nh_

Detailed Description

Connect the callbacks in Locomotor to do global and local planning on two separate timers.

Uses two Executors, local_planning_ex_ and global_planning_ex_

When a new goal is recieved, it starts a timer to update the global costmap on the global_planning_ex. When the global costmap update finishes, it requests a global plan on the global_planning_ex. When the first global plan is generated, it starts a timer to update the local costmap on the local_planning_ex. When the local costmap update finishes, it requests a local plan on the local_planning_ex. When the goal is reached, it stops both the timers.

Definition at line 55 of file double_thread_locomotor.cpp.

Constructor & Destructor Documentation

locomotor::DoubleThreadLocomotor::DoubleThreadLocomotor ( const ros::NodeHandle & private_nh ) [inline, explicit]

Definition at line 58 of file double_thread_locomotor.cpp.

Member Function Documentation

void locomotor::DoubleThreadLocomotor::controlLoopCallback ( const ros::TimerEvent & event ) [inline, protected]

Definition at line 140 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onGlobalCostmapException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 112 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onGlobalCostmapUpdate ( const ros::Duration & planning_time ) [inline, protected]

Definition at line 104 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onGlobalPlanningException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 133 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onLocalCostmapException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 155 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onLocalCostmapUpdate ( const ros::Duration & planning_time ) [inline, protected]

Definition at line 147 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onLocalPlanningException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 173 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onNavigationCompleted ( ) [inline, protected]

Definition at line 180 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onNavigationFailure ( const locomotor_msgs::ResultCode result ) [inline, protected]

Definition at line 188 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onNewGlobalPlan	(	nav_2d_msgs::Path2D	new_global_plan,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 118 of file double_thread_locomotor.cpp.

void locomotor::DoubleThreadLocomotor::onNewLocalPlan	(	nav_2d_msgs::Twist2DStamped	new_command,
		const ros::Duration &	planning_time
	)		`[inline, protected]`