A version of DWBLocalPlanner with ROS services for the major components. More...

#include <debug_dwb_local_planner.h>

Inheritance diagram for dwb_local_planner::DebugDWBLocalPlanner:

Public Member Functions
void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
	Override the DWB constructor to also advertise the services. More...

Public Member Functions inherited from dwb_local_planner::DWBLocalPlanner
nav_2d_msgs::Twist2DStamped	computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) override
	nav_core2 computeVelocityCommands - calculates the best command given the current pose and velocity More...

virtual nav_2d_msgs::Twist2DStamped	computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity, std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &results)
	Compute the best command given the current pose and velocity, with possible debug information. More...

	DWBLocalPlanner ()
	Constructor that brings up pluginlib loaders. More...

void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
	nav_core2 initialization More...

bool	isGoalReached (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) override
	nav_core2 isGoalReached - Check whether the robot has reached its goal, given the current pose & velocity. More...

virtual dwb_msgs::TrajectoryScore	scoreTrajectory (const dwb_msgs::Trajectory2D &traj, double best_score=-1)
	Score a given command. Can be used for testing. More...

void	setGoalPose (const nav_2d_msgs::Pose2DStamped &goal_pose) override
	nav_core2 setGoalPose - Sets the global goal pose More...

void	setPlan (const nav_2d_msgs::Path2D &path) override
	nav_core2 setPlan - Sets the global plan More...

virtual	~DWBLocalPlanner ()

Public Member Functions inherited from nav_core2::LocalPlanner
virtual	~LocalPlanner ()

Protected Member Functions
bool	debugLocalPlanService (dwb_msgs::DebugLocalPlan::Request &req, dwb_msgs::DebugLocalPlan::Response &res)

bool	generateTrajectoryService (dwb_msgs::GenerateTrajectory::Request &req, dwb_msgs::GenerateTrajectory::Response &res)

bool	generateTwistsService (dwb_msgs::GenerateTwists::Request &req, dwb_msgs::GenerateTwists::Response &res)

TrajectoryCritic::Ptr	getCritic (std::string name)

bool	getCriticScoreService (dwb_msgs::GetCriticScore::Request &req, dwb_msgs::GetCriticScore::Response &res)

bool	scoreTrajectoryService (dwb_msgs::ScoreTrajectory::Request &req, dwb_msgs::ScoreTrajectory::Response &res)

Protected Member Functions inherited from dwb_local_planner::DWBLocalPlanner
virtual dwb_msgs::TrajectoryScore	coreScoringAlgorithm (const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D velocity, std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &results)
	Iterate through all the twists and find the best one. More...

virtual void	loadCritics (const std::string name)
	Load the critic parameters from the namespace. More...

virtual void	prepare (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)
	Helper method for preparing for the core scoring algorithm. More...

std::string	resolveCriticClassName (std::string base_name)
	try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic" More...

virtual nav_2d_msgs::Path2D	transformGlobalPlan (const nav_2d_msgs::Pose2DStamped &pose)
	Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses. More...

geometry_msgs::Pose2D	transformPoseToLocal (const nav_2d_msgs::Pose2DStamped &pose)
	Helper method to transform a given pose to the local costmap frame. More...

Protected Attributes
ros::ServiceServer	critic_service_

ros::ServiceServer	debug_service_

ros::ServiceServer	generate_traj_service_

ros::ServiceServer	score_service_

ros::ServiceServer	twist_gen_service_

Protected Attributes inherited from dwb_local_planner::DWBLocalPlanner
nav_core2::Costmap::Ptr	costmap_

pluginlib::ClassLoader< TrajectoryCritic >	critic_loader_

std::vector< TrajectoryCritic::Ptr >	critics_

bool	debug_trajectory_details_

std::vector< std::string >	default_critic_namespaces_

nav_2d_msgs::Path2D	global_plan_
	Saved Global Plan. More...

GoalChecker::Ptr	goal_checker_

pluginlib::ClassLoader< GoalChecker >	goal_checker_loader_

nav_2d_msgs::Pose2DStamped	goal_pose_
	Saved Goal Pose. More...

ros::NodeHandle	planner_nh_

double	prune_distance_

bool	prune_plan_

DWBPublisher	pub_

bool	short_circuit_trajectory_evaluation_

TFListenerPtr	tf_

pluginlib::ClassLoader< TrajectoryGenerator >	traj_gen_loader_

TrajectoryGenerator::Ptr	traj_generator_

bool	update_costmap_before_planning_

Detailed Description

A version of DWBLocalPlanner with ROS services for the major components.

Advertises three services: GenerateTwists, GenerateTrajectory and DebugLocalPlan

Definition at line 54 of file debug_dwb_local_planner.h.

Member Function Documentation

bool dwb_local_planner::DebugDWBLocalPlanner::debugLocalPlanService	(	dwb_msgs::DebugLocalPlan::Request &	req,
		dwb_msgs::DebugLocalPlan::Response &	res
	)

protected

Definition at line 124 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::generateTrajectoryService	(	dwb_msgs::GenerateTrajectory::Request &	req,
		dwb_msgs::GenerateTrajectory::Response &	res
	)

protected

Definition at line 68 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::generateTwistsService	(	dwb_msgs::GenerateTwists::Request &	req,
		dwb_msgs::GenerateTwists::Response &	res
	)

protected

Definition at line 61 of file debug_dwb_local_planner.cpp.

TrajectoryCritic::Ptr dwb_local_planner::DebugDWBLocalPlanner::getCritic ( std::string name )

protected

Definition at line 88 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::getCriticScoreService	(	dwb_msgs::GetCriticScore::Request &	req,
		dwb_msgs::GetCriticScore::Response &	res
	)

protected

Definition at line 98 of file debug_dwb_local_planner.cpp.

void dwb_local_planner::DebugDWBLocalPlanner::initialize	(	const ros::NodeHandle &	parent,
		const std::string &	name,
		TFListenerPtr	tf,
		nav_core2::Costmap::Ptr	costmap
	)

overridevirtual

Override the DWB constructor to also advertise the services.

Implements nav_core2::LocalPlanner.

Definition at line 44 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::scoreTrajectoryService	(	dwb_msgs::ScoreTrajectory::Request &	req,
		dwb_msgs::ScoreTrajectory::Response &	res
	)

protected

Definition at line 75 of file debug_dwb_local_planner.cpp.

Member Data Documentation

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::critic_service_

protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::debug_service_

protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::generate_traj_service_

protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::score_service_

protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::twist_gen_service_

protected

Definition at line 76 of file debug_dwb_local_planner.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation