A class adhering to the robot_actions::Action interface that moves the robot base to explore its environment. More...

#include <explore.h>

Public Member Functions
void	execute ()
	Explore ()
void	spin ()
Private Member Functions
bool	goalOnBlacklist (const geometry_msgs::PoseStamped &goal)
void	makePlan ()
	Make a global plan.
void	publishFrontiers ()
	Publish a frontiers as markers.
void	reachedGoal (const actionlib::SimpleClientGoalState &status, const move_base_msgs::MoveBaseResultConstPtr &result, const geometry_msgs::PoseStamped &frontier_goal)
Private Attributes
Costmap2DClient	costmap_client_
bool	done_exploring_
ExploreFrontier	explorer_
std::vector < geometry_msgs::PoseStamped >	frontier_blacklist_
double	gain_scale_
tf::Stamped< tf::Pose >	global_pose_
ros::Publisher	marker_array_publisher_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_base_client_
double	orientation_scale_
navfn::NavfnROS	planner_
double	planner_frequency_
std::mutex	planning_mutex_
double	potential_scale_
geometry_msgs::PoseStamped	prev_goal_
size_t	prev_plan_size_
ros::NodeHandle	private_nh_
double	progress_timeout_
ros::NodeHandle	relative_nh_
tf::TransformListener	tf_listener_
double	time_since_progress_
bool	visualize_

Detailed Description

A class adhering to the robot_actions::Action interface that moves the robot base to explore its environment.

Definition at line 69 of file explore.h.

Constructor & Destructor Documentation

explore::Explore::Explore ( )

Definition at line 45 of file explore.cpp.

void explore::Explore::execute ( )

Definition at line 186 of file explore.cpp.

bool explore::Explore::goalOnBlacklist ( const geometry_msgs::PoseStamped & goal ) [private]

Definition at line 157 of file explore.cpp.

void explore::Explore::makePlan ( ) [private]

Make a global plan.

Definition at line 75 of file explore.cpp.

void explore::Explore::publishFrontiers ( ) [private]

Publish a frontiers as markers.

Definition at line 68 of file explore.cpp.

void explore::Explore::reachedGoal	(	const actionlib::SimpleClientGoalState &	status,
		const move_base_msgs::MoveBaseResultConstPtr &	result,
		const geometry_msgs::PoseStamped &	frontier_goal
	)		`[private]`