The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex and bundles the controller execution classes,the planner execution classes and the recovery execution classes. It provides the following action servers ActionServerGetPath -> callActionGetPath(), ActionServerExePath -> callActionExePath(), ActionServerRecovery -> callActionRecovery() and ActionServerMoveBase -> callActionMoveBase(). More...

#include <abstract_navigation_server.h>

Public Member Functions
	AbstractNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor, reads all parameters and initializes all action servers and creates the plugin instances. Parameters are the concrete implementations of the abstract classes.
virtual void	callActionExePath (ActionServerExePath::GoalHandle goal_handle)
	ExePath action execution method. This method will be called if the action server receives a goal.
virtual void	callActionGetPath (ActionServerGetPath::GoalHandle goal_handle)
	GetPath action execution method. This method will be called if the action server receives a goal.
virtual void	callActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)
	MoveBase action execution method. This method will be called if the action server receives a goal.
virtual void	callActionRecovery (ActionServerRecovery::GoalHandle goal_handle)
	Recovery action execution method. This method will be called if the action server receives a goal.
virtual void	cancelActionExePath (ActionServerExePath::GoalHandle goal_handle)
virtual void	cancelActionGetPath (ActionServerGetPath::GoalHandle goal_handle)
virtual void	cancelActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)
virtual void	cancelActionRecovery (ActionServerRecovery::GoalHandle goal_handle)
bool	getRobotPose (geometry_msgs::PoseStamped &robot_pose)
	Computes the current robot pose (robot_frame_) in the global frame (global_frame_).
virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)=0
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!
virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)=0
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!
virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)=0
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!
virtual void	initializeServerComponents ()
	initializes all server components. Initializing the plugins of the Planner, the Controller, and the Recovery Behavior.
virtual mbf_abstract_core::AbstractController::Ptr	loadControllerPlugin (const std::string &controller_type)=0
	Loads the plugin associated with the given controller type parameter.
virtual mbf_abstract_core::AbstractPlanner::Ptr	loadPlannerPlugin (const std::string &planner_type)=0
	Loads the plugin associated with the given planner_type parameter.
virtual mbf_abstract_core::AbstractRecovery::Ptr	loadRecoveryPlugin (const std::string &recovery_type)=0
	Loads a Recovery plugin associated with given recovery type parameter.
virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string plugin_name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)
	shared pointer to a new ControllerExecution
virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)
	shared pointer to a new PlannerExecution
virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)
	shared pointer to a new RecoveryExecution
virtual void	startActionServers ()
	starts all action server.
virtual void	stop ()
virtual	~AbstractNavigationServer ()
	Destructor.
Protected Member Functions
virtual void	reconfigure (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)
	Reconfiguration method called by dynamic reconfigure.
virtual void	startDynamicReconfigureServer ()
	Start a dynamic reconfigure server. This must be called only if the extending doesn't create its own.
bool	transformPlanToGlobalFrame (std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Transforms a plan to the global frame (global_frame_) coord system.
Protected Attributes
ActionServerExePathPtr	action_server_exe_path_ptr_
	shared pointer to the ExePath action server
ActionServerGetPathPtr	action_server_get_path_ptr_
	shared pointer to the GetPath action server
ActionServerMoveBasePtr	action_server_move_base_ptr_
	shared pointer to the MoveBase action server
ActionServerRecoveryPtr	action_server_recovery_ptr_
	shared pointer to the Recovery action server
bool	clearing_rotation_allowed_
	true, if clearing rotate is allowed.
boost::mutex	configuration_mutex_
	configuration mutex for derived classes and other threads.
ControllerAction	controller_action_
AbstractPluginManager < mbf_abstract_core::AbstractController >	controller_plugin_manager_
mbf_abstract_nav::MoveBaseFlexConfig	default_config_
	the default parameter configuration save
DynamicReconfigureServer	dsrv_
	dynamic reconfigure server
std::string	global_frame_
	the global frame, in which the robot is moving
geometry_msgs::PoseStamped	goal_pose_
	current goal pose; used to compute remaining distance and angle
ros::Publisher	goal_pub_
	current_goal publisher for all controller execution objects
mbf_abstract_nav::MoveBaseFlexConfig	last_config_
	last configuration save
MoveBaseAction	move_base_action_
double	oscillation_distance_
	minimal move distance to not detect an oscillation
ros::Duration	oscillation_timeout_
	timeout after a oscillation is detected
PlannerAction	planner_action_
AbstractPluginManager < mbf_abstract_core::AbstractPlanner >	planner_plugin_manager_
ros::NodeHandle	private_nh_
	Private node handle.
RecoveryAction	recovery_action_
bool	recovery_enabled_
	true, if recovery behavior for the MoveBase action is enabled.
AbstractPluginManager < mbf_abstract_core::AbstractRecovery >	recovery_plugin_manager_
std::string	robot_frame_
	the robot frame, to get the current robot pose in the global_frame_
RobotInformation	robot_info_
geometry_msgs::PoseStamped	robot_pose_
	current robot pose; moving controller is responsible to update it by calling getRobotPose
bool	setup_reconfigure_
	true, if the dynamic reconfigure has been setup.
const TFPtr	tf_listener_ptr_
	shared pointer to the common TransformListener
ros::Duration	tf_timeout_
	timeout after tf returns without a result
ros::Publisher	vel_pub_
	cmd_vel publisher for all controller execution objects

Detailed Description

The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex and bundles the controller execution classes,the planner execution classes and the recovery execution classes. It provides the following action servers ActionServerGetPath -> callActionGetPath(), ActionServerExePath -> callActionExePath(), ActionServerRecovery -> callActionRecovery() and ActionServerMoveBase -> callActionMoveBase().

Definition at line 119 of file abstract_navigation_server.h.

Constructor & Destructor Documentation

mbf_abstract_nav::AbstractNavigationServer::AbstractNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor, reads all parameters and initializes all action servers and creates the plugin instances. Parameters are the concrete implementations of the abstract classes.

Parameters:

tf_listener_ptr	shared pointer to the common TransformListener buffering transformations
planning_ptr	shared pointer to an object of the concrete derived implementation of the AbstractPlannerExecution
moving_ptr	shared pointer to an object of the concrete derived implementation of the AbstractControllerExecution
recovery_ptr	shared pointer to an object of the concrete derived implementation of the AbstractRecoveryExecution

Definition at line 48 of file abstract_navigation_server.cpp.

mbf_abstract_nav::AbstractNavigationServer::~AbstractNavigationServer ( ) [virtual]

Destructor.

Definition at line 125 of file abstract_navigation_server.cpp.

Member Function Documentation

void mbf_abstract_nav::AbstractNavigationServer::callActionExePath ( ActionServerExePath::GoalHandle goal_handle ) [virtual]

ExePath action execution method. This method will be called if the action server receives a goal.

Parameters:

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 189 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::callActionGetPath ( ActionServerGetPath::GoalHandle goal_handle ) [virtual]

GetPath action execution method. This method will be called if the action server receives a goal.

Parameters:

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 130 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::callActionMoveBase ( ActionServerMoveBase::GoalHandle goal_handle ) [virtual]

MoveBase action execution method. This method will be called if the action server receives a goal.

Parameters:

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 305 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::callActionRecovery ( ActionServerRecovery::GoalHandle goal_handle ) [virtual]

Recovery action execution method. This method will be called if the action server receives a goal.

Parameters:

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 247 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionExePath ( ActionServerExePath::GoalHandle goal_handle ) [virtual]

Definition at line 241 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionGetPath ( ActionServerGetPath::GoalHandle goal_handle ) [virtual]

Definition at line 183 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionMoveBase ( ActionServerMoveBase::GoalHandle goal_handle ) [virtual]

Definition at line 311 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionRecovery ( ActionServerRecovery::GoalHandle goal_handle ) [virtual]

Definition at line 299 of file abstract_navigation_server.cpp.

bool mbf_abstract_nav::AbstractNavigationServer::getRobotPose ( geometry_msgs::PoseStamped & robot_pose )

Computes the current robot pose (robot_frame_) in the global frame (global_frame_).

Parameters:

robot_pose Reference to the robot_pose message object to be filled.

Returns:: true, if the current robot pose could be computed, false otherwise.

virtual bool mbf_abstract_nav::AbstractNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)		`[pure virtual]`

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name	The name of the controller
controller_ptr	pointer to the controller object which corresponds to the name param

Returns:: true if init succeeded, false otherwise

virtual bool mbf_abstract_nav::AbstractNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)		`[pure virtual]`

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name	The name of the planner
planner_ptr	pointer to the planner object which corresponds to the name param

Returns:: true if init succeeded, false otherwise

virtual bool mbf_abstract_nav::AbstractNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)		`[pure virtual]`

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name	The name of the recovery behavior
behavior_ptr	pointer to the recovery behavior object which corresponds to the name param

Returns:: true if init succeeded, false otherwise

void mbf_abstract_nav::AbstractNavigationServer::initializeServerComponents ( ) [virtual]

initializes all server components. Initializing the plugins of the Planner, the Controller, and the Recovery Behavior.

Definition at line 118 of file abstract_navigation_server.cpp.

virtual mbf_abstract_core::AbstractController::Ptr mbf_abstract_nav::AbstractNavigationServer::loadControllerPlugin ( const std::string & controller_type ) [pure virtual]

Loads the plugin associated with the given controller type parameter.

Parameters:

controller_type The type of the controller plugin

Returns:: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

virtual mbf_abstract_core::AbstractPlanner::Ptr mbf_abstract_nav::AbstractNavigationServer::loadPlannerPlugin ( const std::string & planner_type ) [pure virtual]

Loads the plugin associated with the given planner_type parameter.

Parameters:

planner_type The type of the planner plugin to load.

Returns:: Pointer to the loaded plugin

virtual mbf_abstract_core::AbstractRecovery::Ptr mbf_abstract_nav::AbstractNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type ) [pure virtual]

Loads a Recovery plugin associated with given recovery type parameter.

Parameters:

recovery_name The name of the Recovery plugin

Returns:: A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

mbf_abstract_nav::AbstractControllerExecution::Ptr mbf_abstract_nav::AbstractNavigationServer::newControllerExecution	(	const std::string	plugin_name,
		const mbf_abstract_core::AbstractController::Ptr	plugin_ptr
	)		`[virtual]`

shared pointer to a new ControllerExecution

Definition at line 326 of file abstract_navigation_server.cpp.

mbf_abstract_nav::AbstractPlannerExecution::Ptr mbf_abstract_nav::AbstractNavigationServer::newPlannerExecution	(	const std::string	plugin_name,
		const mbf_abstract_core::AbstractPlanner::Ptr	plugin_ptr
	)		`[virtual]`

shared pointer to a new PlannerExecution

Definition at line 317 of file abstract_navigation_server.cpp.

mbf_abstract_nav::AbstractRecoveryExecution::Ptr mbf_abstract_nav::AbstractNavigationServer::newRecoveryExecution	(	const std::string	plugin_name,
		const mbf_abstract_core::AbstractRecovery::Ptr	plugin_ptr
	)		`[virtual]`

shared pointer to a new RecoveryExecution

Definition at line 334 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::reconfigure	(	mbf_abstract_nav::MoveBaseFlexConfig &	config,
		uint32_t	level
	)		`[protected, virtual]`

Reconfiguration method called by dynamic reconfigure.

Parameters:

config	Configuration parameters. See the MoveBaseFlexConfig definition.
level	bit mask, which parameters are set.

Definition at line 358 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::startActionServers ( ) [virtual]

starts all action server.

Definition at line 343 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::startDynamicReconfigureServer ( ) [protected, virtual]

Start a dynamic reconfigure server. This must be called only if the extending doesn't create its own.

Definition at line 351 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::stop ( ) [virtual]

Definition at line 384 of file abstract_navigation_server.cpp.

bool mbf_abstract_nav::AbstractNavigationServer::transformPlanToGlobalFrame	(	std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)		`[protected]`