locomotor::Locomotor Class Reference

an extensible path planning coordination engine More...

#include <locomotor.h>

Public Member Functions
nav_core2::GlobalPlanner &	getCurrentGlobalPlanner ()
std::string	getCurrentGlobalPlannerName () const
nav_core2::LocalPlanner &	getCurrentLocalPlanner ()
std::string	getCurrentLocalPlannerName () const
nav_core2::Costmap::Ptr	getGlobalCostmap () const
std::vector< std::string >	getGlobalPlannerNames () const
nav_2d_msgs::Pose2DStamped	getGlobalRobotPose () const
nav_core2::Costmap::Ptr	getLocalCostmap () const
std::vector< std::string >	getLocalPlannerNames () const
nav_2d_msgs::Pose2DStamped	getLocalRobotPose () const
const locomotor_msgs::NavigationState &	getNavigationState () const
TFListenerPtr	getTFListener () const
void	initializeGlobalCostmap (Executor &ex)
void	initializeGlobalPlanners (Executor &ex)
void	initializeLocalCostmap (Executor &ex)
void	initializeLocalPlanners (Executor &ex)
	Locomotor (const ros::NodeHandle &private_nh)
	Base Constructor. More...
void	publishPath (const nav_2d_msgs::Path2D &global_plan)
void	publishTwist (const nav_2d_msgs::Twist2DStamped &command)
void	requestGlobalCostmapUpdate (Executor &work_ex, Executor &result_ex, CostmapUpdateCallback cb=nullptr, CostmapUpdateExceptionCallback fail_cb=nullptr)
	Request the global costmap get updated as a new callback. More...
void	requestGlobalPlan (Executor &work_ex, Executor &result_ex, GlobalPlanCallback cb=nullptr, PlannerExceptionCallback fail_cb=nullptr)
	Request the global planner get run as a new callback. More...
void	requestLocalCostmapUpdate (Executor &work_ex, Executor &result_ex, CostmapUpdateCallback cb=nullptr, CostmapUpdateExceptionCallback fail_cb=nullptr)
	Request the local costmap get updated as a new callback. More...
void	requestLocalPlan (Executor &work_ex, Executor &result_ex, LocalPlanCallback cb=nullptr, PlannerExceptionCallback fail_cb=nullptr, NavigationCompleteCallback complete_cb=nullptr)
	Request the local planner get run as a new callback. More...
void	requestNavigationFailure (Executor &result_ex, const locomotor_msgs::ResultCode &result, NavigationFailureCallback cb=nullptr)
	Request that a onNavigationFailure event be added as a new callback. More...
virtual void	setGoal (nav_2d_msgs::Pose2DStamped goal)
	Starts a new navigation to the given goal. More...
bool	useGlobalPlanner (const std::string &name)
bool	useLocalPlanner (const std::string &name)

Protected Member Functions
void	doCostmapUpdate (nav_core2::Costmap &costmap, Executor &result_ex, CostmapUpdateCallback cb, CostmapUpdateExceptionCallback fail_cb)
nav_2d_msgs::Pose2DStamped	getRobotPose (const std::string &target_frame) const
void	makeGlobalPlan (Executor &result_ex, GlobalPlanCallback cb, PlannerExceptionCallback fail_cb)
void	makeLocalPlan (Executor &result_ex, LocalPlanCallback cb, PlannerExceptionCallback fail_cb, NavigationCompleteCallback complete_cb)
virtual void	switchLocalPlannerCallback (const std::string &old_planner, const std::string &new_planner)
	Callback for when the local planner switches to ensure the new planner has up to date information. More...

Protected Attributes
pluginlib::ClassLoader< nav_core2::Costmap >	costmap_loader_
nav_core2::Costmap::Ptr	global_costmap_
nav_2d_utils::PluginMux< nav_core2::GlobalPlanner >	global_planner_mux_
nav_core2::Costmap::Ptr	local_costmap_
nav_2d_utils::PluginMux< nav_core2::LocalPlanner >	local_planner_mux_
std::shared_ptr< nav_2d_utils::OdomSubscriber >	odom_sub_
PathPublisher	path_pub_
ros::NodeHandle	private_nh_
std::string	robot_base_frame_
locomotor_msgs::NavigationState	state_
TFListenerPtr	tf_
TwistPublisher	twist_pub_
bool	use_latest_pose_

Detailed Description

an extensible path planning coordination engine

Definition at line 79 of file locomotor.h.

Constructor & Destructor Documentation

locomotor::Locomotor::Locomotor ( const ros::NodeHandle &  private_nh )

explicit

Base Constructor.

Definition at line 48 of file locomotor.cpp.

Member Function Documentation

nav_core2::GlobalPlanner& locomotor::Locomotor::getCurrentGlobalPlanner ( )

inline

Definition at line 170 of file locomotor.h.

std::string locomotor::Locomotor::getCurrentGlobalPlannerName ( ) const

inline

Definition at line 169 of file locomotor.h.

nav_core2::LocalPlanner& locomotor::Locomotor::getCurrentLocalPlanner ( )

inline

Definition at line 175 of file locomotor.h.

std::string locomotor::Locomotor::getCurrentLocalPlannerName ( ) const

inline

Definition at line 174 of file locomotor.h.

nav_core2::Costmap::Ptr locomotor::Locomotor::getGlobalCostmap ( ) const

inline

Definition at line 179 of file locomotor.h.

std::vector<std::string> locomotor::Locomotor::getGlobalPlannerNames ( ) const

inline

Definition at line 168 of file locomotor.h.

nav_2d_msgs::Pose2DStamped locomotor::Locomotor::getGlobalRobotPose ( ) const

inline

Definition at line 184 of file locomotor.h.

nav_core2::Costmap::Ptr locomotor::Locomotor::getLocalCostmap ( ) const

inline

Definition at line 180 of file locomotor.h.

std::vector<std::string> locomotor::Locomotor::getLocalPlannerNames ( ) const

inline

Definition at line 173 of file locomotor.h.

nav_2d_msgs::Pose2DStamped locomotor::Locomotor::getLocalRobotPose ( ) const

inline

Definition at line 185 of file locomotor.h.

const locomotor_msgs::NavigationState& locomotor::Locomotor::getNavigationState ( ) const

inline

Definition at line 165 of file locomotor.h.

nav_2d_msgs::Pose2DStamped locomotor::Locomotor::getRobotPose ( const std::string &  target_frame ) const

protected

Definition at line 232 of file locomotor.cpp.

TFListenerPtr locomotor::Locomotor::getTFListener ( ) const

inline

Definition at line 183 of file locomotor.h.

void locomotor::Locomotor::publishPath ( const nav_2d_msgs::Path2D &  global_plan )

inline

Definition at line 188 of file locomotor.h.

void locomotor::Locomotor::publishTwist ( const nav_2d_msgs::Twist2DStamped &  command )

inline

Definition at line 189 of file locomotor.h.

void locomotor::Locomotor::setGoal ( nav_2d_msgs::Pose2DStamped  goal )

virtual

Starts a new navigation to the given goal.

Parameters

goal	The goal to navigate to

Definition at line 110 of file locomotor.cpp.

void locomotor::Locomotor::switchLocalPlannerCallback ( const std::string &  old_planner, const std::string &  new_planner  )

protectedvirtual

Callback for when the local planner switches to ensure the new planner has up to date information.

Parameters

old_planner	Name used on local_planner_mux of the old planner
new_planner	Name used on local_planner_mux of the new planner

Definition at line 117 of file locomotor.cpp.

bool locomotor::Locomotor::useGlobalPlanner ( const std::string &  name )

inline

Definition at line 171 of file locomotor.h.

bool locomotor::Locomotor::useLocalPlanner ( const std::string &  name )

inline

Definition at line 176 of file locomotor.h.

Member Data Documentation

pluginlib::ClassLoader<nav_core2::Costmap> locomotor::Locomotor::costmap_loader_

protected

Definition at line 211 of file locomotor.h.

nav_core2::Costmap::Ptr locomotor::Locomotor::global_costmap_

protected

Definition at line 215 of file locomotor.h.

nav_2d_utils::PluginMux<nav_core2::GlobalPlanner> locomotor::Locomotor::global_planner_mux_

protected

Definition at line 214 of file locomotor.h.

nav_core2::Costmap::Ptr locomotor::Locomotor::local_costmap_

protected

Definition at line 219 of file locomotor.h.

nav_2d_utils::PluginMux<nav_core2::LocalPlanner> locomotor::Locomotor::local_planner_mux_

protected

Definition at line 218 of file locomotor.h.

std::shared_ptr<nav_2d_utils::OdomSubscriber> locomotor::Locomotor::odom_sub_

protected

Definition at line 225 of file locomotor.h.

PathPublisher locomotor::Locomotor::path_pub_

protected

Definition at line 233 of file locomotor.h.

ros::NodeHandle locomotor::Locomotor::private_nh_

protected

Definition at line 228 of file locomotor.h.

std::string locomotor::Locomotor::robot_base_frame_

protected

Definition at line 230 of file locomotor.h.

locomotor_msgs::NavigationState locomotor::Locomotor::state_

protected

Definition at line 229 of file locomotor.h.

TFListenerPtr locomotor::Locomotor::tf_

protected

Definition at line 223 of file locomotor.h.

TwistPublisher locomotor::Locomotor::twist_pub_

protected

Definition at line 234 of file locomotor.h.

bool locomotor::Locomotor::use_latest_pose_

protected

Definition at line 224 of file locomotor.h.

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

• locomotor.h
• locomotor.cpp