#include <straf_recovery.h>

Inheritance diagram for straf_recovery::StrafRecovery:

Public Member Functions
void	initialize (std::string, tf::TransformListener tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
void	runBehavior ()
	This recovery behavior will translate away from the nearest obstacle in the local costmap. This is done by finding the nearest points, calculating a tangent, and then finding the normal to that tangent. The robot moves along that tangent line until all of the following conditions are true:
	StrafRecovery ()
Private Member Functions
void	goalCallback (const geometry_msgs::PoseStamped &msg)
	uses move_base_simple/goal
void	reconfigureCB (StrafRecoveryConfig &config, uint32_t level)
	callback for reconfigure
void	strafInDiretionOfPose (tf::Stamped< tf::Pose > current_pose, tf::Vector3 direction_pose, bool away=true)
	straf in the direction of a point, given in the odom frame
Private Attributes
int	cycles_
ros::Publisher	cycles_pub_
dynamic_reconfigure::Server < StrafRecoveryConfig > *	dsrv_
bool	enabled_
double	frequency_
costmap_2d::Costmap2DROS *	global_costmap_
double	go_to_goal_distance_threshold_
ros::Subscriber	goal_sub_
bool	initialized_
geometry_msgs::PoseStamped	last_goal_
costmap_2d::Costmap2DROS *	local_costmap_
base_local_planner::CostmapModel *	local_costmap_model_
double	maximum_translate_distance_
double	minimum_translate_distance_
std::string	name_
ros::Publisher	obstacle_pub_
tf::TransformListener *	tf_
int	timeout_
double	vel_
ros::Publisher	vel_pub_
double	xy_goal_tolerance_

Detailed Description

Definition at line 13 of file straf_recovery.h.

Constructor & Destructor Documentation

straf_recovery::StrafRecovery::StrafRecovery ( )

Definition at line 13 of file straf_recovery.cpp.

Member Function Documentation

void straf_recovery::StrafRecovery::goalCallback ( const geometry_msgs::PoseStamped & msg ) [private]

uses move_base_simple/goal

Definition at line 211 of file straf_recovery.cpp.

void straf_recovery::StrafRecovery::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)		`[virtual]`

Implements nav_core::RecoveryBehavior.

Definition at line 17 of file straf_recovery.cpp.

void straf_recovery::StrafRecovery::reconfigureCB	(	StrafRecoveryConfig &	config,
		uint32_t	level
	)		`[private]`

callback for reconfigure

Definition at line 217 of file straf_recovery.cpp.

void straf_recovery::StrafRecovery::runBehavior ( ) [virtual]

This recovery behavior will translate away from the nearest obstacle in the local costmap. This is done by finding the nearest points, calculating a tangent, and then finding the normal to that tangent. The robot moves along that tangent line until all of the following conditions are true:

The robot has moved at least the distance specified by min_distance (via parameter server)
The robot has moved no more than the distance specified by max_distance (via parameter server)
The robot is able to spin freely (IE, rotate recovery would work now)
The robot is no closer to any other obstacle than it was when it began translating

Implements nav_core::RecoveryBehavior.

Definition at line 74 of file straf_recovery.cpp.

void straf_recovery::StrafRecovery::strafInDiretionOfPose	(	tf::Stamped< tf::Pose >	current_pose,
		tf::Vector3	direction_pose,
		bool	away = `true`
	)		`[private]`