dlux_global_planner::PlannerNode Class Reference

Demonstration/debug tool that creates paths between arbitrary points. More...

Public Member Functions
	PlannerNode ()
	~PlannerNode ()

Private Member Functions
void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
void	plan ()
void	poseCB (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &goal)
void	publishPointMarker (nav_2d_msgs::Pose2DStamped pose, bool start)

Private Attributes
double	blue_
nav_core2::Costmap::Ptr	costmap_
pluginlib::ClassLoader< nav_core2::Costmap >	costmap_loader_
nav_2d_msgs::Pose2DStamped	goal_
ros::Subscriber	goal_sub_
dlux_global_planner::DluxGlobalPlanner	gp_
double	green_
bool	has_goal_
bool	has_start_
std::string	marker_ns_
ros::Publisher	marker_pub_
ros::Subscriber	pose_sub_
double	red_
nav_2d_msgs::Pose2DStamped	start_
TFListenerPtr	tf_

Detailed Description

Demonstration/debug tool that creates paths between arbitrary points.

This node will

• load a costmap from the global_costmap namespace
• initialize the dlux_global_planner from the planner namespace
• listen on the /initialpose and /move_base_simple/goal topics for the start and goal poses respectively
• run the global planner between those poses
• publish the plan as a Path and as Markers

You can set the color of the markers with the red/green/blue parameters and you can set their namespace with the marker_ns parameter.

Definition at line 61 of file planner_node.cpp.

Constructor & Destructor Documentation

dlux_global_planner::PlannerNode::PlannerNode ( )

inline

Definition at line 64 of file planner_node.cpp.

dlux_global_planner::PlannerNode::~PlannerNode ( )

inline

Definition at line 86 of file planner_node.cpp.

Member Function Documentation

void dlux_global_planner::PlannerNode::goalCB ( const geometry_msgs::PoseStamped::ConstPtr &  goal )

inlineprivate

Definition at line 91 of file planner_node.cpp.

void dlux_global_planner::PlannerNode::plan ( )

inlineprivate

Definition at line 109 of file planner_node.cpp.

void dlux_global_planner::PlannerNode::poseCB ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  goal )

inlineprivate

Definition at line 99 of file planner_node.cpp.

void dlux_global_planner::PlannerNode::publishPointMarker ( nav_2d_msgs::Pose2DStamped  pose, bool  start  )

inlineprivate

Definition at line 153 of file planner_node.cpp.

Member Data Documentation

double dlux_global_planner::PlannerNode::blue_

private

Definition at line 184 of file planner_node.cpp.

nav_core2::Costmap::Ptr dlux_global_planner::PlannerNode::costmap_

private

Definition at line 177 of file planner_node.cpp.

pluginlib::ClassLoader<nav_core2::Costmap> dlux_global_planner::PlannerNode::costmap_loader_

private

Definition at line 178 of file planner_node.cpp.

nav_2d_msgs::Pose2DStamped dlux_global_planner::PlannerNode::goal_

private

Definition at line 181 of file planner_node.cpp.

ros::Subscriber dlux_global_planner::PlannerNode::goal_sub_

private

Definition at line 173 of file planner_node.cpp.

dlux_global_planner::DluxGlobalPlanner dlux_global_planner::PlannerNode::gp_

private

Definition at line 179 of file planner_node.cpp.

double dlux_global_planner::PlannerNode::green_

private

Definition at line 184 of file planner_node.cpp.

bool dlux_global_planner::PlannerNode::has_goal_

private

Definition at line 182 of file planner_node.cpp.

bool dlux_global_planner::PlannerNode::has_start_

private

Definition at line 182 of file planner_node.cpp.

std::string dlux_global_planner::PlannerNode::marker_ns_

private

Definition at line 185 of file planner_node.cpp.

ros::Publisher dlux_global_planner::PlannerNode::marker_pub_

private

Definition at line 174 of file planner_node.cpp.

ros::Subscriber dlux_global_planner::PlannerNode::pose_sub_

private

Definition at line 173 of file planner_node.cpp.

double dlux_global_planner::PlannerNode::red_

private

Definition at line 184 of file planner_node.cpp.

nav_2d_msgs::Pose2DStamped dlux_global_planner::PlannerNode::start_

private

Definition at line 181 of file planner_node.cpp.

TFListenerPtr dlux_global_planner::PlannerNode::tf_

private

Definition at line 176 of file planner_node.cpp.

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The documentation for this class was generated from the following file:

• planner_node.cpp