Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base. More...

Public Member Functions
	FrontierExplorationServer (std::string name)
	Constructor for the server, sets up this node's ActionServer for exploration and ActionClient to move_base for robot movement.
Private Member Functions
void	doneMovingCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
	Done callback for the move_base client, checks for errors and aborts exploration task if necessary.
void	executeCb (const frontier_exploration::ExploreTaskGoalConstPtr &goal)
	Execute callback for actionserver, run after accepting a new goal.
void	feedbackMovingCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
	Feedback callback for the move_base client, republishes as feedback for the exploration server.
void	preemptCb ()
	Preempt callback for the server, cancels the current running goal and all associated movement actions.
Private Attributes
actionlib::SimpleActionServer < frontier_exploration::ExploreTaskAction >	as_
boost::shared_ptr < costmap_2d::Costmap2DROS >	explore_costmap_ros_
frontier_exploration::ExploreTaskFeedback	feedback_
double	frequency_
double	goal_aliasing_
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	move_client_
move_base_msgs::MoveBaseGoal	move_client_goal_
boost::mutex	move_client_lock_
bool	moving_
ros::NodeHandle	nh_
ros::NodeHandle	private_nh_
int	retry_
bool	success_
tf::TransformListener	tf_listener_

Detailed Description

Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base.

Definition at line 25 of file explore_server.cpp.

Constructor & Destructor Documentation

frontier_exploration::FrontierExplorationServer::FrontierExplorationServer ( std::string name ) [inline]

Constructor for the server, sets up this node's ActionServer for exploration and ActionClient to move_base for robot movement.

Parameters:

name	Name for SimpleActionServer

Definition at line 34 of file explore_server.cpp.

Member Function Documentation

void frontier_exploration::FrontierExplorationServer::doneMovingCb	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[inline, private]`

Done callback for the move_base client, checks for errors and aborts exploration task if necessary.

Parameters:

state	State from the move_base client
result	Result from the move_base client

Definition at line 241 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::executeCb ( const frontier_exploration::ExploreTaskGoalConstPtr & goal ) [inline, private]

Execute callback for actionserver, run after accepting a new goal.

Parameters:

goal	ActionGoal containing boundary of area to explore, and a valid centerpoint for the area.

Definition at line 72 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::feedbackMovingCb ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [inline, private]

Feedback callback for the move_base client, republishes as feedback for the exploration server.

Parameters:

feedback Feedback from the move_base client

Definition at line 229 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::preemptCb ( ) [inline, private]

Preempt callback for the server, cancels the current running goal and all associated movement actions.

Definition at line 213 of file explore_server.cpp.