A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. More...

#include <move_base.h>

Public Member Functions
bool	executeCycle (geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Performs a control cycle.
	MoveBase (tf::TransformListener &tf)
	Constructor for the actions.
virtual	~MoveBase ()
	Destructor - Cleans up.
Private Member Functions
bool	clearCostmapsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	A service call that clears the costmaps of obstacles.
void	clearCostmapWindows (double size_x, double size_y)
	Clears obstacles within a window around the robot.
double	distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
void	executeCb (const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal)
void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
geometry_msgs::PoseStamped	goalToGlobalFrame (const geometry_msgs::PoseStamped &goal_pose_msg)
bool	isQuaternionValid (const geometry_msgs::Quaternion &q)
void	loadDefaultRecoveryBehaviors ()
	Loads the default recovery behaviors for the navigation stack.
bool	loadRecoveryBehaviors (ros::NodeHandle node)
	Load the recovery behaviors for the navigation stack from the parameter server.
bool	makePlan (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Make a new global plan.
bool	planService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
	A service call that can be made when the action is inactive that will return a plan.
void	planThread ()
void	publishZeroVelocity ()
	Publishes a velocity command of zero to the base.
void	reconfigureCB (move_base::MoveBaseConfig &config, uint32_t level)
void	resetState ()
	Reset the state of the move_base action and send a zero velocity command to the base.
void	wakePlanner (const ros::TimerEvent &event)
	This is used to wake the planner at periodic intervals.
Private Attributes
ros::Publisher	action_goal_pub_
MoveBaseActionServer *	as_
pluginlib::ClassLoader < nav_core::BaseGlobalPlanner >	bgp_loader_
pluginlib::ClassLoader < nav_core::BaseLocalPlanner >	blp_loader_
bool	c_freq_change_
double	circumscribed_radius_
ros::ServiceServer	clear_costmaps_srv_
double	clearing_radius_
bool	clearing_rotation_allowed_
boost::recursive_mutex	configuration_mutex_
double	conservative_reset_dist_
costmap_2d::Costmap2DROS *	controller_costmap_ros_
double	controller_frequency_
double	controller_patience_
std::vector < geometry_msgs::PoseStamped > *	controller_plan_
ros::Publisher	current_goal_pub_
move_base::MoveBaseConfig	default_config_
dynamic_reconfigure::Server < move_base::MoveBaseConfig > *	dsrv_
std::string	global_frame_
tf::Stamped< tf::Pose >	global_pose_
ros::Subscriber	goal_sub_
double	inscribed_radius_
move_base::MoveBaseConfig	last_config_
ros::Time	last_oscillation_reset_
ros::Time	last_valid_control_
ros::Time	last_valid_plan_
std::vector < geometry_msgs::PoseStamped > *	latest_plan_
ros::ServiceServer	make_plan_srv_
int32_t	max_planning_retries_
bool	new_global_plan_
double	oscillation_distance_
geometry_msgs::PoseStamped	oscillation_pose_
double	oscillation_timeout_
bool	p_freq_change_
boost::shared_ptr < nav_core::BaseGlobalPlanner >	planner_
boost::condition_variable	planner_cond_
costmap_2d::Costmap2DROS *	planner_costmap_ros_
double	planner_frequency_
geometry_msgs::PoseStamped	planner_goal_
boost::mutex	planner_mutex_
double	planner_patience_
std::vector < geometry_msgs::PoseStamped > *	planner_plan_
boost::thread *	planner_thread_
uint32_t	planning_retries_
bool	recovery_behavior_enabled_
std::vector< boost::shared_ptr < nav_core::RecoveryBehavior > >	recovery_behaviors_
unsigned int	recovery_index_
pluginlib::ClassLoader < nav_core::RecoveryBehavior >	recovery_loader_
RecoveryTrigger	recovery_trigger_
std::string	robot_base_frame_
bool	runPlanner_
bool	setup_
bool	shutdown_costmaps_
MoveBaseState	state_
boost::shared_ptr < nav_core::BaseLocalPlanner >	tc_
tf::TransformListener &	tf_
ros::Publisher	vel_pub_