ROS Wrapper for the DWAPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base. More...

#include <dwa_planner_ros.h>

Inheritance diagram for dwa_local_planner::DWAPlannerROS:

[legend]

List of all members.

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
bool	dwaComputeVelocityCommands (tf::Stamped< tf::Pose > &global_pose, geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base, using dynamic window approach.
	DWAPlannerROS ()
	Constructor for DWAPlannerROS wrapper.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
bool	isGoalReached ()
	Check if the goal pose has been achieved.
bool	isInitialized ()
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following.
	~DWAPlannerROS ()
	Destructor for the wrapper.
Private Member Functions
void	publishGlobalPlan (std::vector< geometry_msgs::PoseStamped > &path)
void	publishLocalPlan (std::vector< geometry_msgs::PoseStamped > &path)
void	reconfigureCB (DWAPlannerConfig &config, uint32_t level)
	Callback to update the local planner's parameters based on dynamic reconfigure.
Private Attributes
costmap_2d::Costmap2DROS *	costmap_ros_
tf::Stamped< tf::Pose >	current_pose_
dwa_local_planner::DWAPlannerConfig	default_config_
boost::shared_ptr< DWAPlanner >	dp_
	The trajectory controller.
dynamic_reconfigure::Server < DWAPlannerConfig > *	dsrv_
ros::Publisher	g_plan_pub_
bool	initialized_
ros::Publisher	l_plan_pub_
base_local_planner::LatchedStopRotateController	latchedStopRotateController_
base_local_planner::OdometryHelperRos	odom_helper_
std::string	odom_topic_
base_local_planner::LocalPlannerUtil	planner_util_
bool	setup_
tf::TransformListener *	tf_
	Used for transforming point clouds.

Detailed Description

ROS Wrapper for the DWAPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base.

Definition at line 66 of file dwa_planner_ros.h.

Constructor & Destructor Documentation

dwa_local_planner::DWAPlannerROS::DWAPlannerROS ( )

Constructor for DWAPlannerROS wrapper.

Definition at line 89 of file dwa_planner_ros.cpp.

dwa_local_planner::DWAPlannerROS::~DWAPlannerROS ( )

Destructor for the wrapper.

Definition at line 170 of file dwa_planner_ros.cpp.

Member Function Documentation

bool dwa_local_planner::DWAPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns:: True if a valid trajectory was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 252 of file dwa_planner_ros.cpp.

bool dwa_local_planner::DWAPlannerROS::dwaComputeVelocityCommands	(	tf::Stamped< tf::Pose > &	global_pose,
		geometry_msgs::Twist &	cmd_vel
	)

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base, using dynamic window approach.

Parameters:

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns:: True if a valid trajectory was found, false otherwise

Definition at line 177 of file dwa_planner_ros.cpp.

void dwa_local_planner::DWAPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Constructs the ros wrapper.

Parameters:

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Implements nav_core::BaseLocalPlanner.

Definition at line 94 of file dwa_planner_ros.cpp.

bool dwa_local_planner::DWAPlannerROS::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved.