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. More...

	MoveBase (tf::TransformListener &tf)
	Constructor for the actions. More...

virtual	~MoveBase ()
	Destructor - Cleans up. More...

Private Member Functions
bool	clearCostmapsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	A service call that clears the costmaps of obstacles. More...

void	clearCostmapWindows (double size_x, double size_y)
	Clears obstacles within a window around the robot. More...

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. More...

bool	loadRecoveryBehaviors (ros::NodeHandle node)
	Load the recovery behaviors for the navigation stack from the parameter server. More...

bool	makePlan (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Make a new global plan. More...

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. More...

void	planThread ()

void	publishZeroVelocity ()
	Publishes a velocity command of zero to the base. More...

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. More...

void	wakePlanner (const ros::TimerEvent &event)
	This is used to wake the planner at periodic intervals. More...

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_any	planner_cond_

costmap_2d::Costmap2DROS *	planner_costmap_ros_

double	planner_frequency_

geometry_msgs::PoseStamped	planner_goal_

boost::recursive_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< std::string >	recovery_behavior_names_

std::vector< boost::shared_ptr< nav_core::RecoveryBehavior > >	recovery_behaviors_

unsigned int	recovery_index_

pluginlib::ClassLoader< nav_core::RecoveryBehavior >	recovery_loader_

ros::Publisher	recovery_status_pub_

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_

Detailed Description

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

Definition at line 83 of file move_base.h.

Constructor & Destructor Documentation

move_base::MoveBase::MoveBase ( tf::TransformListener & tf )

Constructor for the actions.

Parameters

name	The name of the action
tf	A reference to a TransformListener

Definition at line 49 of file move_base.cpp.

move_base::MoveBase::~MoveBase ( )

virtual

Destructor - Cleans up.

Definition at line 434 of file move_base.cpp.

Member Function Documentation

bool move_base::MoveBase::clearCostmapsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

private

A service call that clears the costmaps of obstacles.

Parameters

req	The service request
resp	The service response

Returns: True if the service call succeeds, false otherwise

Definition at line 330 of file move_base.cpp.

void move_base::MoveBase::clearCostmapWindows	(	double	size_x,
		double	size_y
	)

private

Clears obstacles within a window around the robot.

Parameters

size_x	The x size of the window
size_y	The y size of the window

Definition at line 275 of file move_base.cpp.

double move_base::MoveBase::distance	(	const geometry_msgs::PoseStamped &	p1,
		const geometry_msgs::PoseStamped &	p2
	)

private

Definition at line 787 of file move_base.cpp.

void move_base::MoveBase::executeCb ( const move_base_msgs::MoveBaseGoalConstPtr & move_base_goal )

private

Definition at line 641 of file move_base.cpp.

bool move_base::MoveBase::executeCycle	(	geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Performs a control cycle.

Parameters

goal	A reference to the goal to pursue
global_plan	A reference to the global plan being used

Returns: True if processing of the goal is done, false otherwise

Definition at line 792 of file move_base.cpp.

void move_base::MoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr & goal )

private

Definition at line 266 of file move_base.cpp.

geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame ( const geometry_msgs::PoseStamped & goal_pose_msg )

private

Definition at line 530 of file move_base.cpp.

bool move_base::MoveBase::isQuaternionValid ( const geometry_msgs::Quaternion & q )

private

Definition at line 500 of file move_base.cpp.

void move_base::MoveBase::loadDefaultRecoveryBehaviors ( )

private

Loads the default recovery behaviors for the navigation stack.

Definition at line 1096 of file move_base.cpp.

bool move_base::MoveBase::loadRecoveryBehaviors ( ros::NodeHandle node )

private

Load the recovery behaviors for the navigation stack from the parameter server.

Parameters

node	The ros::NodeHandle to be used for loading parameters

Returns: True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 1010 of file move_base.cpp.

bool move_base::MoveBase::makePlan	(	const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

private

Make a new global plan.

Parameters

goal	The goal to plan to
plan	Will be filled in with the plan made by the planner

Returns: True if planning succeeds, false otherwise

Definition at line 461 of file move_base.cpp.

bool move_base::MoveBase::planService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)

private

A service call that can be made when the action is inactive that will return a plan.

Parameters

req	The goal request
resp	The plan request

Returns: True if planning succeeded, false otherwise

Definition at line 341 of file move_base.cpp.

void move_base::MoveBase::planThread ( )

private

Definition at line 559 of file move_base.cpp.

void move_base::MoveBase::publishZeroVelocity ( )

private

Publishes a velocity command of zero to the base.

Definition at line 492 of file move_base.cpp.

void move_base::MoveBase::reconfigureCB	(	move_base::MoveBaseConfig &	config,
		uint32_t	level
	)

private

Definition at line 176 of file move_base.cpp.

void move_base::MoveBase::resetState ( )

private

Reset the state of the move_base action and send a zero velocity command to the base.

Definition at line 1137 of file move_base.cpp.

void move_base::MoveBase::wakePlanner ( const ros::TimerEvent & event )

private

This is used to wake the planner at periodic intervals.

Definition at line 553 of file move_base.cpp.

Member Data Documentation

ros::Publisher move_base::MoveBase::action_goal_pub_

private

Definition at line 196 of file move_base.h.

MoveBaseActionServer* move_base::MoveBase::as_

private

Definition at line 178 of file move_base.h.

pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> move_base::MoveBase::bgp_loader_

private

Definition at line 207 of file move_base.h.

pluginlib::ClassLoader<nav_core::BaseLocalPlanner> move_base::MoveBase::blp_loader_

private

Definition at line 208 of file move_base.h.

bool move_base::MoveBase::c_freq_change_

private

Definition at line 231 of file move_base.h.

double move_base::MoveBase::circumscribed_radius_

private

Definition at line 191 of file move_base.h.

ros::ServiceServer move_base::MoveBase::clear_costmaps_srv_

private

Definition at line 198 of file move_base.h.

double move_base::MoveBase::clearing_radius_

private

Definition at line 195 of file move_base.h.

bool move_base::MoveBase::clearing_rotation_allowed_

private

Definition at line 199 of file move_base.h.

boost::recursive_mutex move_base::MoveBase::configuration_mutex_

private

Definition at line 224 of file move_base.h.

double move_base::MoveBase::conservative_reset_dist_

private

Definition at line 195 of file move_base.h.

costmap_2d::Costmap2DROS * move_base::MoveBase::controller_costmap_ros_

private

Definition at line 181 of file move_base.h.

double move_base::MoveBase::controller_frequency_

private

Definition at line 191 of file move_base.h.

double move_base::MoveBase::controller_patience_

private

Definition at line 192 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::controller_plan_

private

Definition at line 214 of file move_base.h.

ros::Publisher move_base::MoveBase::current_goal_pub_

private

Definition at line 196 of file move_base.h.

move_base::MoveBaseConfig move_base::MoveBase::default_config_

private

Definition at line 230 of file move_base.h.

dynamic_reconfigure::Server<move_base::MoveBaseConfig>* move_base::MoveBase::dsrv_

private

Definition at line 225 of file move_base.h.

std::string move_base::MoveBase::global_frame_

private

Definition at line 184 of file move_base.h.

tf::Stamped<tf::Pose> move_base::MoveBase::global_pose_

private

Definition at line 190 of file move_base.h.

ros::Subscriber move_base::MoveBase::goal_sub_

private

Definition at line 197 of file move_base.h.

double move_base::MoveBase::inscribed_radius_

private

Definition at line 191 of file move_base.h.

move_base::MoveBaseConfig move_base::MoveBase::last_config_

private

Definition at line 229 of file move_base.h.

ros::Time move_base::MoveBase::last_oscillation_reset_

private

Definition at line 205 of file move_base.h.

ros::Time move_base::MoveBase::last_valid_control_

private

Definition at line 205 of file move_base.h.

ros::Time move_base::MoveBase::last_valid_plan_

private

Definition at line 205 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::latest_plan_

private

Definition at line 213 of file move_base.h.

ros::ServiceServer move_base::MoveBase::make_plan_srv_

private

Definition at line 198 of file move_base.h.

int32_t move_base::MoveBase::max_planning_retries_

private

Definition at line 193 of file move_base.h.

bool move_base::MoveBase::new_global_plan_

private

Definition at line 232 of file move_base.h.

double move_base::MoveBase::oscillation_distance_

private

Definition at line 200 of file move_base.h.

geometry_msgs::PoseStamped move_base::MoveBase::oscillation_pose_

private

Definition at line 206 of file move_base.h.

double move_base::MoveBase::oscillation_timeout_

private

Definition at line 200 of file move_base.h.

bool move_base::MoveBase::p_freq_change_

private

Definition at line 231 of file move_base.h.

boost::shared_ptr<nav_core::BaseGlobalPlanner> move_base::MoveBase::planner_

private

Definition at line 183 of file move_base.h.

boost::condition_variable_any move_base::MoveBase::planner_cond_

private

Definition at line 219 of file move_base.h.

costmap_2d::Costmap2DROS* move_base::MoveBase::planner_costmap_ros_

private

Definition at line 181 of file move_base.h.

double move_base::MoveBase::planner_frequency_

private

Definition at line 191 of file move_base.h.

geometry_msgs::PoseStamped move_base::MoveBase::planner_goal_

private

Definition at line 220 of file move_base.h.

boost::recursive_mutex move_base::MoveBase::planner_mutex_

private

Definition at line 218 of file move_base.h.

double move_base::MoveBase::planner_patience_

private

Definition at line 192 of file move_base.h.

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::planner_plan_

private

Definition at line 212 of file move_base.h.

boost::thread* move_base::MoveBase::planner_thread_

private

Definition at line 221 of file move_base.h.

uint32_t move_base::MoveBase::planning_retries_

private

Definition at line 194 of file move_base.h.

bool move_base::MoveBase::recovery_behavior_enabled_

private

Definition at line 199 of file move_base.h.

std::vector<std::string> move_base::MoveBase::recovery_behavior_names_

private

Definition at line 187 of file move_base.h.

std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > move_base::MoveBase::recovery_behaviors_

private

Definition at line 186 of file move_base.h.

unsigned int move_base::MoveBase::recovery_index_

private

Definition at line 188 of file move_base.h.

pluginlib::ClassLoader<nav_core::RecoveryBehavior> move_base::MoveBase::recovery_loader_

private

Definition at line 209 of file move_base.h.

ros::Publisher move_base::MoveBase::recovery_status_pub_

private

Definition at line 196 of file move_base.h.

RecoveryTrigger move_base::MoveBase::recovery_trigger_

private

Definition at line 203 of file move_base.h.

std::string move_base::MoveBase::robot_base_frame_

private

Definition at line 184 of file move_base.h.

bool move_base::MoveBase::runPlanner_

private

Definition at line 217 of file move_base.h.

bool move_base::MoveBase::setup_

private

Definition at line 231 of file move_base.h.

bool move_base::MoveBase::shutdown_costmaps_

private

Definition at line 199 of file move_base.h.

MoveBaseState move_base::MoveBase::state_

private

Definition at line 202 of file move_base.h.

boost::shared_ptr<nav_core::BaseLocalPlanner> move_base::MoveBase::tc_

private

Definition at line 180 of file move_base.h.

tf::TransformListener& move_base::MoveBase::tf_

private

Definition at line 176 of file move_base.h.

ros::Publisher move_base::MoveBase::vel_pub_

private

Definition at line 196 of file move_base.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation