Plugin to the ros base_local_planner. Implements a wrapper for the Elastic Band Method. More...

#include <eband_local_planner_ros.h>

Inheritance diagram for eband_local_planner::EBandPlannerROS:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...

	EBandPlannerROS ()
	Default constructor for the ros wrapper. More...

	EBandPlannerROS (std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper. More...

void	initialize (std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS costmap_ros)
	Initializes the ros wrapper. More...

bool	isGoalReached ()
	Check if the goal pose has been achieved. More...

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following; also reset eband-planner. More...

	~EBandPlannerROS ()
	Destructor for the wrapper. More...

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

Private Types
typedef dynamic_reconfigure::Server< eband_local_planner::EBandPlannerConfig >	drs

Private Member Functions
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	Odometry-Callback: function is called whenever a new odometry msg is published on that topic. More...

void	reconfigureCallback (EBandPlannerConfig &config, uint32_t level)
	Reconfigures node parameters. More...

Private Attributes
nav_msgs::Odometry	base_odom_

costmap_2d::Costmap2DROS *	costmap_ros_
	pointer to costmap More...

boost::shared_ptr< drs >	drs_
	dynamic reconfigure server ptr More...

boost::shared_ptr< EBandPlanner >	eband_

boost::shared_ptr< EBandTrajectoryCtrl >	eband_trj_ctrl_

boost::shared_ptr< EBandVisualization >	eband_visual_

ros::Publisher	g_plan_pub_
	publishes modified global plan More...

std::vector< geometry_msgs::PoseStamped >	global_plan_

bool	goal_reached_

bool	initialized_

ros::Publisher	l_plan_pub_
	publishes prediction for local commands More...

boost::mutex	odom_mutex_

ros::Subscriber	odom_sub_
	subscribes to the odometry topic in global namespace More...

std::vector< int >	plan_start_end_counter_

double	rot_stopped_vel_

tf2_ros::Buffer *	tf_
	pointer to Transform Listener More...

double	trans_stopped_vel_
	lower bound for absolute value of velocity (with respect to stick-slip behaviour) More...

std::vector< geometry_msgs::PoseStamped >	transformed_plan_

double	xy_goal_tolerance_
	parameters to define region in which goal is treated as reached More...

double	yaw_goal_tolerance_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseLocalPlanner
	BaseLocalPlanner ()

Detailed Description

Plugin to the ros base_local_planner. Implements a wrapper for the Elastic Band Method.

Definition at line 84 of file eband_local_planner_ros.h.

Member Typedef Documentation

◆ drs

typedef dynamic_reconfigure::Server< eband_local_planner::EBandPlannerConfig> eband_local_planner::EBandPlannerROS::drs

private

Definition at line 145 of file eband_local_planner_ros.h.

Constructor & Destructor Documentation

◆ EBandPlannerROS() [1/2]

eband_local_planner::EBandPlannerROS::EBandPlannerROS ( )

Default constructor for the ros wrapper.

Definition at line 54 of file eband_local_planner_ros.cpp.

◆ EBandPlannerROS() [2/2]

eband_local_planner::EBandPlannerROS::EBandPlannerROS	(	std::string	name,
		tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructs the ros wrapper.

Parameters

name	The name to give this instance of the elastic band local planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Definition at line 57 of file eband_local_planner_ros.cpp.

◆ ~EBandPlannerROS()

eband_local_planner::EBandPlannerROS::~EBandPlannerROS ( )

Destructor for the wrapper.

Definition at line 65 of file eband_local_planner_ros.cpp.

Member Function Documentation

◆ computeVelocityCommands()

bool eband_local_planner::EBandPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

virtual

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns: True if a valid trajectory was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 218 of file eband_local_planner_ros.cpp.

◆ initialize()

void eband_local_planner::EBandPlannerROS::initialize	(	std::string	name,
		tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initializes the ros wrapper.

Parameters

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Implements nav_core::BaseLocalPlanner.

Definition at line 68 of file eband_local_planner_ros.cpp.

◆ isGoalReached()

bool eband_local_planner::EBandPlannerROS::isGoalReached ( )

virtual

Check if the goal pose has been achieved.

Returns: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 368 of file eband_local_planner_ros.cpp.

◆ odomCallback()

void eband_local_planner::EBandPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

private

Odometry-Callback: function is called whenever a new odometry msg is published on that topic.

Parameters

Pointer to the received message

Definition at line 403 of file eband_local_planner_ros.cpp.

◆ reconfigureCallback()

void eband_local_planner::EBandPlannerROS::reconfigureCallback	(	EBandPlannerConfig &	config,
		uint32_t	level
	)

private

Reconfigures node parameters.

Parameters

config	The dynamic reconfigure node configuration
level	Reconfiguration level

Definition at line 128 of file eband_local_planner_ros.cpp.

◆ setPlan()

bool eband_local_planner::EBandPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & orig_global_plan )

virtual

Set the plan that the controller is following; also reset eband-planner.

Parameters

orig_global_plan The plan to pass to the controller

Returns: True if the plan was updated successfully, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 154 of file eband_local_planner_ros.cpp.

Member Data Documentation

◆ base_odom_

nav_msgs::Odometry eband_local_planner::EBandPlannerROS::base_odom_

private

Definition at line 163 of file eband_local_planner_ros.h.

◆ costmap_ros_

costmap_2d::Costmap2DROS* eband_local_planner::EBandPlannerROS::costmap_ros_

private

pointer to costmap

Definition at line 150 of file eband_local_planner_ros.h.

◆ drs_

boost::shared_ptr<drs> eband_local_planner::EBandPlannerROS::drs_

private

dynamic reconfigure server ptr

Definition at line 147 of file eband_local_planner_ros.h.

◆ eband_

boost::shared_ptr<EBandPlanner> eband_local_planner::EBandPlannerROS::eband_

private

Definition at line 169 of file eband_local_planner_ros.h.

◆ eband_trj_ctrl_

boost::shared_ptr<EBandTrajectoryCtrl> eband_local_planner::EBandPlannerROS::eband_trj_ctrl_

private

Definition at line 171 of file eband_local_planner_ros.h.

◆ eband_visual_

boost::shared_ptr<EBandVisualization> eband_local_planner::EBandPlannerROS::eband_visual_

private

Definition at line 170 of file eband_local_planner_ros.h.

◆ g_plan_pub_

ros::Publisher eband_local_planner::EBandPlannerROS::g_plan_pub_

private

publishes modified global plan

Definition at line 158 of file eband_local_planner_ros.h.

◆ global_plan_

std::vector<geometry_msgs::PoseStamped> eband_local_planner::EBandPlannerROS::global_plan_

private

Definition at line 164 of file eband_local_planner_ros.h.

◆ goal_reached_

bool eband_local_planner::EBandPlannerROS::goal_reached_

private

Definition at line 173 of file eband_local_planner_ros.h.

◆ initialized_

bool eband_local_planner::EBandPlannerROS::initialized_

private

Definition at line 176 of file eband_local_planner_ros.h.

◆ l_plan_pub_

ros::Publisher eband_local_planner::EBandPlannerROS::l_plan_pub_

private

publishes prediction for local commands

Definition at line 159 of file eband_local_planner_ros.h.

◆ odom_mutex_

boost::mutex eband_local_planner::EBandPlannerROS::odom_mutex_

private

Definition at line 177 of file eband_local_planner_ros.h.

◆ odom_sub_

ros::Subscriber eband_local_planner::EBandPlannerROS::odom_sub_

private

subscribes to the odometry topic in global namespace

Definition at line 160 of file eband_local_planner_ros.h.

◆ plan_start_end_counter_

std::vector<int> eband_local_planner::EBandPlannerROS::plan_start_end_counter_

private

Definition at line 166 of file eband_local_planner_ros.h.

◆ rot_stopped_vel_

double eband_local_planner::EBandPlannerROS::rot_stopped_vel_

private

Definition at line 155 of file eband_local_planner_ros.h.

◆ tf_

tf2_ros::Buffer* eband_local_planner::EBandPlannerROS::tf_

private

pointer to Transform Listener

Definition at line 151 of file eband_local_planner_ros.h.

◆ trans_stopped_vel_

double eband_local_planner::EBandPlannerROS::trans_stopped_vel_

private

lower bound for absolute value of velocity (with respect to stick-slip behaviour)

Definition at line 155 of file eband_local_planner_ros.h.

◆ transformed_plan_

std::vector<geometry_msgs::PoseStamped> eband_local_planner::EBandPlannerROS::transformed_plan_

private

Definition at line 165 of file eband_local_planner_ros.h.

◆ xy_goal_tolerance_

double eband_local_planner::EBandPlannerROS::xy_goal_tolerance_

private

parameters to define region in which goal is treated as reached

Definition at line 154 of file eband_local_planner_ros.h.

◆ yaw_goal_tolerance_

double eband_local_planner::EBandPlannerROS::yaw_goal_tolerance_

private

Definition at line 154 of file eband_local_planner_ros.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ drs

Constructor & Destructor Documentation

◆ EBandPlannerROS() [1/2]

◆ EBandPlannerROS() [2/2]

◆ ~EBandPlannerROS()

Member Function Documentation

◆ computeVelocityCommands()

◆ initialize()

◆ isGoalReached()

◆ odomCallback()

◆ reconfigureCallback()

◆ setPlan()

Member Data Documentation

◆ base_odom_

◆ costmap_ros_

◆ drs_

◆ eband_

◆ eband_trj_ctrl_

◆ eband_visual_

◆ g_plan_pub_

◆ global_plan_

◆ goal_reached_

◆ initialized_

◆ l_plan_pub_

◆ odom_mutex_

◆ odom_sub_

◆ plan_start_end_counter_

◆ rot_stopped_vel_

◆ tf_

◆ trans_stopped_vel_

◆ transformed_plan_

◆ xy_goal_tolerance_

◆ yaw_goal_tolerance_