The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces. More...

#include <simple_navigation_server.h>

Inheritance diagram for mbf_simple_nav::SimpleNavigationServer:

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Public Member Functions
virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Empty init method. Nothing to initialize. More...

virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Empty init method. Nothing to initialize. More...

virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized! 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...

	SimpleNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor. More...

virtual	~SimpleNavigationServer ()
	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 mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string plugin_name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)

virtual void	startActionServers ()

virtual void	stop ()

virtual	~AbstractNavigationServer ()

Private Attributes
pluginlib::ClassLoader< mbf_abstract_core::AbstractController >	controller_plugin_loader_

pluginlib::ClassLoader< mbf_abstract_core::AbstractPlanner >	planner_plugin_loader_

pluginlib::ClassLoader< mbf_abstract_core::AbstractRecovery >	recovery_plugin_loader_

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 SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces.

Definition at line 63 of file simple_navigation_server.h.

Constructor & Destructor Documentation

mbf_simple_nav::SimpleNavigationServer::SimpleNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor.

Parameters

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 46 of file simple_navigation_server.cpp.

mbf_simple_nav::SimpleNavigationServer::~SimpleNavigationServer ( )

virtual

Destructor.

Definition at line 138 of file simple_navigation_server.cpp.

Member Function Documentation

bool mbf_simple_nav::SimpleNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)

virtual

Empty init method. Nothing to initialize.

Parameters

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

Returns: true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 105 of file simple_navigation_server.cpp.

bool mbf_simple_nav::SimpleNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)

virtual

Empty init method. Nothing to initialize.

Parameters

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

Returns: true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 77 of file simple_navigation_server.cpp.

bool mbf_simple_nav::SimpleNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)

virtual

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters

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

Returns: true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 130 of file simple_navigation_server.cpp.

mbf_abstract_core::AbstractController::Ptr mbf_simple_nav::SimpleNavigationServer::loadControllerPlugin ( const std::string & controller_type )

virtual

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 86 of file simple_navigation_server.cpp.

mbf_abstract_core::AbstractPlanner::Ptr mbf_simple_nav::SimpleNavigationServer::loadPlannerPlugin ( const std::string & planner_type )

virtual

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 59 of file simple_navigation_server.cpp.

mbf_abstract_core::AbstractRecovery::Ptr mbf_simple_nav::SimpleNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type )

virtual

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 112 of file simple_navigation_server.cpp.

Member Data Documentation

pluginlib::ClassLoader<mbf_abstract_core::AbstractController> mbf_simple_nav::SimpleNavigationServer::controller_plugin_loader_

private

Definition at line 136 of file simple_navigation_server.h.

pluginlib::ClassLoader<mbf_abstract_core::AbstractPlanner> mbf_simple_nav::SimpleNavigationServer::planner_plugin_loader_

private

Definition at line 135 of file simple_navigation_server.h.

pluginlib::ClassLoader<mbf_abstract_core::AbstractRecovery> mbf_simple_nav::SimpleNavigationServer::recovery_plugin_loader_

private

Definition at line 137 of file simple_navigation_server.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation