used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base. More...

#include <local_planner_adapter.h>

Inheritance diagram for nav_core_adapter::LocalPlannerAdapter:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel) override
	Collect the additional information needed by nav_core2 and call the child computeVelocityCommands. More...

void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros) override
	Load the nav_core2 local planner and initialize it. More...

bool	isGoalReached () override
	Collect the additional information needed by nav_core2 and call the child isGoalReached. More...

	LocalPlannerAdapter ()

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan) override
	Convert from 2d to 3d and call child setPlan. More...

Public Member Functions inherited from nav_core::BaseLocalPlanner
virtual	~BaseLocalPlanner ()

Protected Member Functions
bool	getRobotPose (nav_2d_msgs::Pose2DStamped &pose2d)
	Get the robot pose from the costmap and store as Pose2DStamped. More...

bool	hasGoalChanged (const nav_2d_msgs::Pose2DStamped &new_goal)
	See if the back of the global plan matches the most recent goal pose. More...

Protected Member Functions inherited from nav_core::BaseLocalPlanner
	BaseLocalPlanner ()

Protected Attributes
std::shared_ptr< CostmapAdapter >	costmap_adapter_

costmap_2d::Costmap2DROS *	costmap_ros_

bool	has_active_goal_

nav_2d_msgs::Pose2DStamped	last_goal_

std::shared_ptr< nav_2d_utils::OdomSubscriber >	odom_sub_
	helper class for subscribing to odometry More...

boost::shared_ptr< nav_core2::LocalPlanner >	planner_

pluginlib::ClassLoader< nav_core2::LocalPlanner >	planner_loader_

TFListenerPtr	tf_

Detailed Description

used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base.

Definition at line 53 of file local_planner_adapter.h.

Constructor & Destructor Documentation

nav_core_adapter::LocalPlannerAdapter::LocalPlannerAdapter ( )

Definition at line 48 of file local_planner_adapter.cpp.

Member Function Documentation

bool nav_core_adapter::LocalPlannerAdapter::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

overridevirtual

Collect the additional information needed by nav_core2 and call the child computeVelocityCommands.

Implements nav_core::BaseLocalPlanner.

Definition at line 79 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::getRobotPose ( nav_2d_msgs::Pose2DStamped & pose2d )

protected

Get the robot pose from the costmap and store as Pose2DStamped.

Definition at line 172 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::hasGoalChanged ( const nav_2d_msgs::Pose2DStamped & new_goal )

protected

See if the back of the global plan matches the most recent goal pose.

Returns: True if the plan has changed

Definition at line 161 of file local_planner_adapter.cpp.

void nav_core_adapter::LocalPlannerAdapter::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

overridevirtual

Load the nav_core2 local planner and initialize it.

Implements nav_core::BaseLocalPlanner.

Definition at line 56 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::isGoalReached ( )

overridevirtual

Collect the additional information needed by nav_core2 and call the child isGoalReached.

Implements nav_core::BaseLocalPlanner.

Definition at line 113 of file local_planner_adapter.cpp.

bool nav_core_adapter::LocalPlannerAdapter::setPlan ( const std::vector< geometry_msgs::PoseStamped > & plan )

overridevirtual

Convert from 2d to 3d and call child setPlan.

Implements nav_core::BaseLocalPlanner.

Definition at line 132 of file local_planner_adapter.cpp.

Member Data Documentation

std::shared_ptr<CostmapAdapter> nav_core_adapter::LocalPlannerAdapter::costmap_adapter_

protected

Definition at line 92 of file local_planner_adapter.h.

costmap_2d::Costmap2DROS* nav_core_adapter::LocalPlannerAdapter::costmap_ros_

protected

Definition at line 93 of file local_planner_adapter.h.

bool nav_core_adapter::LocalPlannerAdapter::has_active_goal_

protected

Definition at line 78 of file local_planner_adapter.h.

nav_2d_msgs::Pose2DStamped nav_core_adapter::LocalPlannerAdapter::last_goal_

protected

Definition at line 77 of file local_planner_adapter.h.

std::shared_ptr<nav_2d_utils::OdomSubscriber> nav_core_adapter::LocalPlannerAdapter::odom_sub_

protected

helper class for subscribing to odometry

Definition at line 83 of file local_planner_adapter.h.

boost::shared_ptr<nav_core2::LocalPlanner> nav_core_adapter::LocalPlannerAdapter::planner_

protected

Definition at line 87 of file local_planner_adapter.h.

pluginlib::ClassLoader<nav_core2::LocalPlanner> nav_core_adapter::LocalPlannerAdapter::planner_loader_

protected

Definition at line 86 of file local_planner_adapter.h.

TFListenerPtr nav_core_adapter::LocalPlannerAdapter::tf_

protected

Definition at line 90 of file local_planner_adapter.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation