costmap_controller_execution.h
Go to the documentation of this file.
1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions
6  * are met:
7  *
8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  *
11  * 2. Redistributions in binary form must reproduce the above
12  * copyright notice, this list of conditions and the following
13  * disclaimer in the documentation and/or other materials provided
14  * with the distribution.
15  *
16  * 3. Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived
18  * from this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
24  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
26  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
27  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
29  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
30  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  *
33  * costmap_controller_execution.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_
42 #define MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_
43 
46 
47 #include "mbf_costmap_nav/MoveBaseFlexConfig.h"
49 
50 
51 namespace mbf_costmap_nav
52 {
61 {
62 public:
63 
75  const std::string &controller_name,
76  const mbf_costmap_core::CostmapController::Ptr &controller_ptr,
77  const ros::Publisher &vel_pub,
78  const ros::Publisher &goal_pub,
79  const TFPtr &tf_listener_ptr,
80  const CostmapWrapper::Ptr &costmap_ptr,
81  const MoveBaseFlexConfig &config);
82 
87 
88 private:
89 
94  void preRun()
95  {
96  costmap_ptr_->checkActivate();
97  };
98 
103  void postRun()
104  {
105  costmap_ptr_->checkDeactivate();
106  };
107 
114  bool safetyCheck();
115 
125  virtual uint32_t computeVelocityCmd(
126  const geometry_msgs::PoseStamped &robot_pose,
127  const geometry_msgs::TwistStamped &robot_velocity,
128  geometry_msgs::TwistStamped &vel_cmd,
129  std::string &message);
130 
131  mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config);
132 
135 
138 
140  std::string controller_name_;
141 };
142 
143 } /* namespace mbf_costmap_nav */
144 
145 #endif /* MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_ */
mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)
const CostmapWrapper::Ptr & costmap_ptr_
Shared pointer to thr local costmap.
CostmapControllerExecution(const std::string &controller_name, const mbf_costmap_core::CostmapController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &costmap_ptr, const MoveBaseFlexConfig &config)
Constructor.
The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the ...
std::string controller_name_
name of the controller plugin assigned by the class loader
void preRun()
Implementation-specific setup function, called right before execution. This method overrides abstract...
void postRun()
Implementation-specific cleanup function, called right after execution. This method overrides abstrac...
bool safetyCheck()
Implementation-specific safety check, called during execution to ensure it&#39;s safe to drive...
bool lock_costmap_
Whether to lock costmap before calling the controller (see issue #4 for details)
virtual uint32_t computeVelocityCmd(const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
Request plugin for a new velocity command. We override this method so we can lock the local costmap b...


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:29