locomotor::SingleThreadLocomotor Class Reference

Connect the callbacks in Locomotor to do global planning once and then local planning on a timer. More...

Public Member Functions
void	setGoal (nav_2d_msgs::Pose2DStamped goal)
	SingleThreadLocomotor (const ros::NodeHandle &private_nh)

Protected Member Functions
void	controlLoopCallback (const ros::TimerEvent &event)
void	onGlobalCostmapException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onGlobalCostmapUpdate (const ros::Duration &planning_time)
void	onGlobalPlanningException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onLocalCostmapException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onLocalCostmapUpdate (const ros::Duration &planning_time)
void	onLocalPlanningException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onNavigationCompleted ()
void	onNavigationFailure (const locomotor_msgs::ResultCode result)
void	onNewGlobalPlan (nav_2d_msgs::Path2D new_global_plan, const ros::Duration &planning_time)
void	onNewLocalPlan (nav_2d_msgs::Twist2DStamped new_command, const ros::Duration &planning_time)
void	requestGlobalCostmapUpdate ()
void	requestNavigationFailure (const locomotor_msgs::ResultCode &result)

Protected Attributes
LocomotorActionServer	as_
ros::Timer	control_loop_timer_
double	controller_frequency_ { 20.0 }
ros::Duration	desired_control_duration_
Locomotor	locomotor_
Executor	main_ex_
ros::NodeHandle	private_nh_

Detailed Description

Connect the callbacks in Locomotor to do global planning once and then local planning on a timer.

When a new goal is recieved, it triggers a global costmap update When that finishes, it requests a global plan. When that finishes, it starts a timer to update the local costmap. When the local costmap update finishes, it requests a local plan. When the goal is reached, it stops the timer.

Definition at line 53 of file single_thread_locomotor.cpp.

Constructor & Destructor Documentation

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

inlineexplicit

Definition at line 56 of file single_thread_locomotor.cpp.

Member Function Documentation

void locomotor::SingleThreadLocomotor::controlLoopCallback ( const ros::TimerEvent &  event )

inlineprotected

Definition at line 122 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onGlobalCostmapException ( nav_core2::NavCore2ExceptionPtr  e_ptr, const ros::Duration &  planning_time  )

inlineprotected

Definition at line 101 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onGlobalCostmapUpdate ( const ros::Duration &  planning_time )

inlineprotected

Definition at line 94 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onGlobalPlanningException ( nav_core2::NavCore2ExceptionPtr  e_ptr, const ros::Duration &  planning_time  )

inlineprotected

Definition at line 115 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onLocalCostmapException ( nav_core2::NavCore2ExceptionPtr  e_ptr, const ros::Duration &  planning_time  )

inlineprotected

Definition at line 137 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onLocalCostmapUpdate ( const ros::Duration &  planning_time )

inlineprotected

Definition at line 129 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onLocalPlanningException ( nav_core2::NavCore2ExceptionPtr  e_ptr, const ros::Duration &  planning_time  )

inlineprotected

Definition at line 155 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNavigationCompleted ( )

inlineprotected

Definition at line 162 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNavigationFailure ( const locomotor_msgs::ResultCode  result )

inlineprotected

Definition at line 169 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNewGlobalPlan ( nav_2d_msgs::Path2D  new_global_plan, const ros::Duration &  planning_time  )

inlineprotected

Definition at line 107 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNewLocalPlan ( nav_2d_msgs::Twist2DStamped  new_command, const ros::Duration &  planning_time  )

inlineprotected

Definition at line 143 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::requestGlobalCostmapUpdate ( )

inlineprotected

Definition at line 80 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::requestNavigationFailure ( const locomotor_msgs::ResultCode &  result )

inlineprotected

Definition at line 87 of file single_thread_locomotor.cpp.

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

inline

Definition at line 71 of file single_thread_locomotor.cpp.

Member Data Documentation

LocomotorActionServer locomotor::SingleThreadLocomotor::as_

protected

Definition at line 188 of file single_thread_locomotor.cpp.

ros::Timer locomotor::SingleThreadLocomotor::control_loop_timer_

protected

Definition at line 182 of file single_thread_locomotor.cpp.

double locomotor::SingleThreadLocomotor::controller_frequency_ { 20.0 }

protected

Definition at line 180 of file single_thread_locomotor.cpp.

ros::Duration locomotor::SingleThreadLocomotor::desired_control_duration_

protected

Definition at line 181 of file single_thread_locomotor.cpp.

Locomotor locomotor::SingleThreadLocomotor::locomotor_

protected

Definition at line 177 of file single_thread_locomotor.cpp.

Executor locomotor::SingleThreadLocomotor::main_ex_

protected

Definition at line 185 of file single_thread_locomotor.cpp.

ros::NodeHandle locomotor::SingleThreadLocomotor::private_nh_

protected

Definition at line 175 of file single_thread_locomotor.cpp.

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

• single_thread_locomotor.cpp