used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base. More...

Inheritance diagram for nav_core_adapter::LocalPlannerAdapter:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel) override
	Collect the additional information needed by nav_core2 and call the child computeVelocityCommands.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros) override
	Load the nav_core2 local planner and initialize it.
bool	isGoalReached () override
	Collect the additional information needed by nav_core2 and call the child isGoalReached.
	LocalPlannerAdapter ()
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan) override
	Convert from 2d to 3d and call child setPlan.
Protected Member Functions
bool	getRobotPose (nav_2d_msgs::Pose2DStamped &pose2d)
	Get the robot pose from the costmap and store as Pose2DStamped.
bool	hasGoalChanged (const nav_2d_msgs::Pose2DStamped &new_goal)
	See if the back of the global plan matches the most recent goal pose.
Protected Attributes
std::shared_ptr< CostmapAdapter >	costmap_adapter_
costmap_2d::Costmap2DROS *	costmap_ros_
bool	has_active_goal_
nav_2d_msgs::Pose2DStamped	last_goal_
std::shared_ptr < nav_2d_utils::OdomSubscriber >	odom_sub_
	helper class for subscribing to odometry
boost::shared_ptr < nav_core2::LocalPlanner >	planner_
pluginlib::ClassLoader < nav_core2::LocalPlanner >	planner_loader_
TFListenerPtr	tf_

Detailed Description

used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base.

Definition at line 53 of file local_planner_adapter.h.

Constructor & Destructor Documentation

nav_core_adapter::LocalPlannerAdapter::LocalPlannerAdapter ( )

Definition at line 48 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [override, virtual]

Collect the additional information needed by nav_core2 and call the child computeVelocityCommands.

Definition at line 79 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::getRobotPose ( nav_2d_msgs::Pose2DStamped & pose2d ) [protected]

Get the robot pose from the costmap and store as Pose2DStamped.

Definition at line 172 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::hasGoalChanged ( const nav_2d_msgs::Pose2DStamped & new_goal ) [protected]

See if the back of the global plan matches the most recent goal pose.

Definition at line 161 of file local_planner_adapter.cpp.

void nav_core_adapter::LocalPlannerAdapter::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[override, virtual]`