The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base. More...

#include <costmap_navigation_server.h>

Inheritance diagram for mbf_costmap_nav::CostmapNavigationServer:

[legend]

Public Types
typedef boost::shared_ptr< costmap_2d::Costmap2DROS >	CostmapPtr

typedef boost::shared_ptr< CostmapNavigationServer >	Ptr

Public Member Functions
	CostmapNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor. More...

virtual void	stop ()

virtual	~CostmapNavigationServer ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractNavigationServer
	AbstractNavigationServer (const TFPtr &tf_listener_ptr)

virtual void	callActionExePath (ActionServerExePath::GoalHandle goal_handle)

virtual void	callActionGetPath (ActionServerGetPath::GoalHandle goal_handle)

virtual void	callActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)

virtual void	callActionRecovery (ActionServerRecovery::GoalHandle goal_handle)

virtual void	cancelActionExePath (ActionServerExePath::GoalHandle goal_handle)

virtual void	cancelActionGetPath (ActionServerGetPath::GoalHandle goal_handle)

virtual void	cancelActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)

virtual void	cancelActionRecovery (ActionServerRecovery::GoalHandle goal_handle)

bool	getRobotPose (geometry_msgs::PoseStamped &robot_pose)

virtual void	initializeServerComponents ()

virtual void	startActionServers ()

virtual	~AbstractNavigationServer ()

Private Member Functions
bool	callServiceCheckPathCost (mbf_msgs::CheckPath::Request &request, mbf_msgs::CheckPath::Response &response)
	Callback method for the check_path_cost service. More...

bool	callServiceCheckPointCost (mbf_msgs::CheckPoint::Request &request, mbf_msgs::CheckPoint::Response &response)
	Callback method for the check_point_cost service. More...

bool	callServiceCheckPoseCost (mbf_msgs::CheckPose::Request &request, mbf_msgs::CheckPose::Response &response)
	Callback method for the check_pose_cost service. More...

bool	callServiceClearCostmaps (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Callback method for the make_plan service. More...

void	checkActivateCostmaps ()
	Check whether the costmaps should be activated. More...

void	checkDeactivateCostmaps ()
	Check whether the costmaps should and could be deactivated. More...

void	deactivateCostmaps (const ros::TimerEvent &event)
	Timer-triggered deactivation of both costmaps. More...

virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the costmap. More...

virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Initializes the controller plugin with its name and pointer to the costmap. More...

virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps. More...

virtual mbf_abstract_core::AbstractController::Ptr	loadControllerPlugin (const std::string &controller_type)
	Loads the plugin associated with the given controller type parameter. More...

virtual mbf_abstract_core::AbstractPlanner::Ptr	loadPlannerPlugin (const std::string &planner_type)
	Loads the plugin associated with the given planner_type parameter. More...

virtual mbf_abstract_core::AbstractRecovery::Ptr	loadRecoveryPlugin (const std::string &recovery_type)
	Loads a Recovery plugin associated with given recovery type parameter. More...

virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)
	shared pointer to a new ControllerExecution More...

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)
	shared pointer to a new PlannerExecution More...

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)
	shared pointer to a new RecoveryExecution More...

void	reconfigure (mbf_costmap_nav::MoveBaseFlexConfig &config, uint32_t level)
	Reconfiguration method called by dynamic reconfigure. More...

Private Attributes
boost::mutex	check_costmaps_mutex_
	Start/stop costmaps mutex; concurrent calls to start can lead to segfault. More...

ros::ServiceServer	check_path_cost_srv_
	Service Server for the check_path_cost service. More...

ros::ServiceServer	check_point_cost_srv_
	Service Server for the check_point_cost service. More...

ros::ServiceServer	check_pose_cost_srv_
	Service Server for the check_pose_cost service. More...

ros::ServiceServer	clear_costmaps_srv_
	Service Server for the clear_costmap service. More...

pluginlib::ClassLoader< mbf_costmap_core::CostmapController >	controller_plugin_loader_

uint16_t	costmaps_users_
	keep track of plugins using costmaps More...

mbf_costmap_nav::MoveBaseFlexConfig	default_config_
	the default parameter configuration save More...

DynamicReconfigureServerCostmapNav	dsrv_costmap_
	Dynamic reconfigure server for the mbf_costmap2d_specific part. More...

CostmapPtr	global_costmap_ptr_
	Shared pointer to the common global costmap. More...

mbf_costmap_nav::MoveBaseFlexConfig	last_config_
	last configuration save More...

CostmapPtr	local_costmap_ptr_
	Shared pointer to the common local costmap. More...

pluginlib::ClassLoader< nav_core::BaseLocalPlanner >	nav_core_controller_plugin_loader_

pluginlib::ClassLoader< nav_core::BaseGlobalPlanner >	nav_core_planner_plugin_loader_

pluginlib::ClassLoader< nav_core::RecoveryBehavior >	nav_core_recovery_plugin_loader_

pluginlib::ClassLoader< mbf_costmap_core::CostmapPlanner >	planner_plugin_loader_

pluginlib::ClassLoader< mbf_costmap_core::CostmapRecovery >	recovery_plugin_loader_

bool	setup_reconfigure_
	true, if the dynamic reconfigure has been setup More...

bool	shutdown_costmaps_
	Stop updating costmaps when not planning or controlling, if true. More...

ros::Duration	shutdown_costmaps_delay_
	costmpas delayed shutdown delay More...

ros::Timer	shutdown_costmaps_timer_
	costmpas delayed shutdown timer More...

Additional Inherited Members
Protected Member Functions inherited from mbf_abstract_nav::AbstractNavigationServer
virtual void	reconfigure (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)

virtual void	startDynamicReconfigureServer ()

bool	transformPlanToGlobalFrame (std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)

Protected Attributes inherited from mbf_abstract_nav::AbstractNavigationServer
ActionServerExePathPtr	action_server_exe_path_ptr_

ActionServerGetPathPtr	action_server_get_path_ptr_

ActionServerMoveBasePtr	action_server_move_base_ptr_

ActionServerRecoveryPtr	action_server_recovery_ptr_

bool	clearing_rotation_allowed_

boost::mutex	configuration_mutex_

ControllerAction	controller_action_

AbstractPluginManager< mbf_abstract_core::AbstractController >	controller_plugin_manager_

mbf_abstract_nav::MoveBaseFlexConfig	default_config_

DynamicReconfigureServer	dsrv_

std::string	global_frame_

geometry_msgs::PoseStamped	goal_pose_

ros::Publisher	goal_pub_

mbf_abstract_nav::MoveBaseFlexConfig	last_config_

MoveBaseAction	move_base_action_

double	oscillation_distance_

ros::Duration	oscillation_timeout_

PlannerAction	planner_action_

AbstractPluginManager< mbf_abstract_core::AbstractPlanner >	planner_plugin_manager_

ros::NodeHandle	private_nh_

RecoveryAction	recovery_action_

bool	recovery_enabled_

AbstractPluginManager< mbf_abstract_core::AbstractRecovery >	recovery_plugin_manager_

std::string	robot_frame_

RobotInformation	robot_info_

geometry_msgs::PoseStamped	robot_pose_

bool	setup_reconfigure_

const TFPtr	tf_listener_ptr_

ros::Duration	tf_timeout_

ros::Publisher	vel_pub_

Detailed Description

The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base.

Definition at line 78 of file costmap_navigation_server.h.

Member Typedef Documentation

typedef boost::shared_ptr<costmap_2d::Costmap2DROS> mbf_costmap_nav::CostmapNavigationServer::CostmapPtr

Definition at line 82 of file costmap_navigation_server.h.

typedef boost::shared_ptr<CostmapNavigationServer> mbf_costmap_nav::CostmapNavigationServer::Ptr

Definition at line 84 of file costmap_navigation_server.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapNavigationServer::CostmapNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor.

Parameters

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 58 of file costmap_navigation_server.cpp.

mbf_costmap_nav::CostmapNavigationServer::~CostmapNavigationServer ( )

virtual

Destructor.

Definition at line 333 of file costmap_navigation_server.cpp.

Member Function Documentation

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPathCost	(	mbf_msgs::CheckPath::Request &	request,
		mbf_msgs::CheckPath::Response &	response
	)

private

Callback method for the check_path_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPath service definition file.
response	Response object, see the mbf_msgs/CheckPath service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 589 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPointCost	(	mbf_msgs::CheckPoint::Request &	request,
		mbf_msgs::CheckPoint::Response &	response
	)

private

Callback method for the check_point_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPoint service definition file.
response	Response object, see the mbf_msgs/CheckPoint service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 387 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPoseCost	(	mbf_msgs::CheckPose::Request &	request,
		mbf_msgs::CheckPose::Response &	response
	)

private

Callback method for the check_pose_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPose service definition file.
response	Response object, see the mbf_msgs/CheckPose service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 465 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::callServiceClearCostmaps	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

private

Callback method for the make_plan service.

Parameters

request	Empty request object.
response	Empty response object.

Returns: true, if the service completed successfully, false otherwise

Definition at line 732 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::checkActivateCostmaps ( )

private

Check whether the costmaps should be activated.

Definition at line 746 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::checkDeactivateCostmaps ( )

private

Check whether the costmaps should and could be deactivated.

Definition at line 763 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::deactivateCostmaps ( const ros::TimerEvent & event )

private

Timer-triggered deactivation of both costmaps.

Definition at line 776 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)

privatevirtual

Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the costmap.

Parameters

name	The name of the controller
controller_ptr	pointer to the controller object which corresponds to the name param

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 230 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)

privatevirtual

Initializes the controller plugin with its name and pointer to the costmap.

Parameters

name	The name of the planner
planner_ptr	pointer to the planner object which corresponds to the name param

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 178 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)

privatevirtual

Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps.

Parameters

name	The name of the recovery behavior
behavior_ptr	pointer to the recovery behavior object which corresponds to the name param

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 292 of file costmap_navigation_server.cpp.

mbf_abstract_core::AbstractController::Ptr mbf_costmap_nav::CostmapNavigationServer::loadControllerPlugin ( const std::string & controller_type )

privatevirtual

Loads the plugin associated with the given controller type parameter.

Parameters

controller_type The type of the controller plugin

Returns: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 199 of file costmap_navigation_server.cpp.

mbf_abstract_core::AbstractPlanner::Ptr mbf_costmap_nav::CostmapNavigationServer::loadPlannerPlugin ( const std::string & planner_type )

privatevirtual

Loads the plugin associated with the given planner_type parameter.

Parameters

planner_type The type of the planner plugin to load.

Returns: true, if the local planner plugin was successfully loaded.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 146 of file costmap_navigation_server.cpp.

mbf_abstract_core::AbstractRecovery::Ptr mbf_costmap_nav::CostmapNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type )

privatevirtual

Loads a Recovery plugin associated with given recovery type parameter.

Parameters

recovery_name The name of the Recovery plugin

Returns: A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 255 of file costmap_navigation_server.cpp.

mbf_abstract_nav::AbstractControllerExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newControllerExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractController::Ptr	plugin_ptr
	)

privatevirtual

shared pointer to a new ControllerExecution

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 115 of file costmap_navigation_server.cpp.

mbf_abstract_nav::AbstractPlannerExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newPlannerExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractPlanner::Ptr	plugin_ptr
	)

privatevirtual

shared pointer to a new PlannerExecution

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 102 of file costmap_navigation_server.cpp.

mbf_abstract_nav::AbstractRecoveryExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newRecoveryExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractRecovery::Ptr	plugin_ptr
	)

privatevirtual

shared pointer to a new RecoveryExecution

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 131 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::reconfigure	(	mbf_costmap_nav::MoveBaseFlexConfig &	config,
		uint32_t	level
	)

private

Reconfiguration method called by dynamic reconfigure.

Parameters

config	Configuration parameters. See the MoveBaseFlexConfig definition.
level	bit mask, which parameters are set.

Definition at line 337 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::stop ( )

virtual

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 324 of file costmap_navigation_server.cpp.

Member Data Documentation

boost::mutex mbf_costmap_nav::CostmapNavigationServer::check_costmaps_mutex_

private

Start/stop costmaps mutex; concurrent calls to start can lead to segfault.

Definition at line 273 of file costmap_navigation_server.h.

ros::ServiceServer mbf_costmap_nav::CostmapNavigationServer::check_path_cost_srv_

private

Service Server for the check_path_cost service.

Definition at line 261 of file costmap_navigation_server.h.

ros::ServiceServer mbf_costmap_nav::CostmapNavigationServer::check_point_cost_srv_

private

Service Server for the check_point_cost service.

Definition at line 255 of file costmap_navigation_server.h.

ros::ServiceServer mbf_costmap_nav::CostmapNavigationServer::check_pose_cost_srv_

private

Service Server for the check_pose_cost service.

Definition at line 258 of file costmap_navigation_server.h.

ros::ServiceServer mbf_costmap_nav::CostmapNavigationServer::clear_costmaps_srv_

private

Service Server for the clear_costmap service.

Definition at line 264 of file costmap_navigation_server.h.

pluginlib::ClassLoader<mbf_costmap_core::CostmapController> mbf_costmap_nav::CostmapNavigationServer::controller_plugin_loader_

private

Definition at line 231 of file costmap_navigation_server.h.

uint16_t mbf_costmap_nav::CostmapNavigationServer::costmaps_users_

private

keep track of plugins using costmaps

Definition at line 268 of file costmap_navigation_server.h.

mbf_costmap_nav::MoveBaseFlexConfig mbf_costmap_nav::CostmapNavigationServer::default_config_

private

the default parameter configuration save

Definition at line 243 of file costmap_navigation_server.h.

DynamicReconfigureServerCostmapNav mbf_costmap_nav::CostmapNavigationServer::dsrv_costmap_

private

Dynamic reconfigure server for the mbf_costmap2d_specific part.

Definition at line 237 of file costmap_navigation_server.h.

CostmapPtr mbf_costmap_nav::CostmapNavigationServer::global_costmap_ptr_

private

Shared pointer to the common global costmap.

Definition at line 252 of file costmap_navigation_server.h.

mbf_costmap_nav::MoveBaseFlexConfig mbf_costmap_nav::CostmapNavigationServer::last_config_

private

last configuration save

Definition at line 240 of file costmap_navigation_server.h.

CostmapPtr mbf_costmap_nav::CostmapNavigationServer::local_costmap_ptr_

private

Shared pointer to the common local costmap.

Definition at line 249 of file costmap_navigation_server.h.

pluginlib::ClassLoader<nav_core::BaseLocalPlanner> mbf_costmap_nav::CostmapNavigationServer::nav_core_controller_plugin_loader_

private

Definition at line 232 of file costmap_navigation_server.h.

pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> mbf_costmap_nav::CostmapNavigationServer::nav_core_planner_plugin_loader_

private

Definition at line 234 of file costmap_navigation_server.h.

pluginlib::ClassLoader<nav_core::RecoveryBehavior> mbf_costmap_nav::CostmapNavigationServer::nav_core_recovery_plugin_loader_

private

Definition at line 230 of file costmap_navigation_server.h.

pluginlib::ClassLoader<mbf_costmap_core::CostmapPlanner> mbf_costmap_nav::CostmapNavigationServer::planner_plugin_loader_

private

Definition at line 233 of file costmap_navigation_server.h.

pluginlib::ClassLoader<mbf_costmap_core::CostmapRecovery> mbf_costmap_nav::CostmapNavigationServer::recovery_plugin_loader_

private

Definition at line 229 of file costmap_navigation_server.h.

bool mbf_costmap_nav::CostmapNavigationServer::setup_reconfigure_

private

true, if the dynamic reconfigure has been setup

Definition at line 246 of file costmap_navigation_server.h.

bool mbf_costmap_nav::CostmapNavigationServer::shutdown_costmaps_

private

Stop updating costmaps when not planning or controlling, if true.

Definition at line 267 of file costmap_navigation_server.h.

ros::Duration mbf_costmap_nav::CostmapNavigationServer::shutdown_costmaps_delay_

private

costmpas delayed shutdown delay

Definition at line 270 of file costmap_navigation_server.h.

ros::Timer mbf_costmap_nav::CostmapNavigationServer::shutdown_costmaps_timer_

private

costmpas delayed shutdown timer

Definition at line 269 of file costmap_navigation_server.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation