Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038
00039
00040 #include <nav_core_wrapper/wrapper_global_planner.h>
00041
00042 #include "mbf_costmap_nav/costmap_planner_execution.h"
00043
00044 namespace mbf_costmap_nav
00045 {
00046
00047 CostmapPlannerExecution::CostmapPlannerExecution(
00048 const std::string name,
00049 const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr,
00050 CostmapPtr &costmap_ptr,
00051 const MoveBaseFlexConfig &config,
00052 boost::function<void()> setup_fn,
00053 boost::function<void()> cleanup_fn)
00054 : AbstractPlannerExecution(name, planner_ptr, toAbstract(config), setup_fn, cleanup_fn),
00055 costmap_ptr_(costmap_ptr)
00056 {
00057 ros::NodeHandle private_nh("~");
00058 private_nh.param("planner_lock_costmap", lock_costmap_, true);
00059 }
00060
00061 CostmapPlannerExecution::~CostmapPlannerExecution()
00062 {
00063 }
00064
00065 mbf_abstract_nav::MoveBaseFlexConfig CostmapPlannerExecution::toAbstract(const MoveBaseFlexConfig &config)
00066 {
00067
00068 mbf_abstract_nav::MoveBaseFlexConfig abstract_config;
00069 abstract_config.planner_frequency = config.planner_frequency;
00070 abstract_config.planner_patience = config.planner_patience;
00071 abstract_config.planner_max_retries = config.planner_max_retries;
00072 return abstract_config;
00073 }
00074
00075 uint32_t CostmapPlannerExecution::makePlan(const geometry_msgs::PoseStamped& start,
00076 const geometry_msgs::PoseStamped& goal,
00077 double tolerance,
00078 std::vector<geometry_msgs::PoseStamped> &plan,
00079 double &cost,
00080 std::string &message)
00081 {
00082 if (lock_costmap_)
00083 {
00084 boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock(*(costmap_ptr_->getCostmap()->getMutex()));
00085 return planner_->makePlan(start, goal, tolerance, plan, cost, message);
00086 }
00087 return planner_->makePlan(start, goal, tolerance, plan, cost, message);
00088 }
00089
00090 }