Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
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

◆ SingleThreadLocomotor()

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

Definition at line 56 of file single_thread_locomotor.cpp.

Member Function Documentation

◆ controlLoopCallback()

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

Definition at line 122 of file single_thread_locomotor.cpp.

◆ onGlobalCostmapException()

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.

◆ onGlobalCostmapUpdate()

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

Definition at line 94 of file single_thread_locomotor.cpp.

◆ onGlobalPlanningException()

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.

◆ onLocalCostmapException()

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.

◆ onLocalCostmapUpdate()

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

Definition at line 129 of file single_thread_locomotor.cpp.

◆ onLocalPlanningException()

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.

◆ onNavigationCompleted()

void locomotor::SingleThreadLocomotor::onNavigationCompleted ( )
inlineprotected

Definition at line 162 of file single_thread_locomotor.cpp.

◆ onNavigationFailure()

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

Definition at line 169 of file single_thread_locomotor.cpp.

◆ onNewGlobalPlan()

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.

◆ onNewLocalPlan()

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.

◆ requestGlobalCostmapUpdate()

void locomotor::SingleThreadLocomotor::requestGlobalCostmapUpdate ( )
inlineprotected

Definition at line 80 of file single_thread_locomotor.cpp.

◆ requestNavigationFailure()

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

Definition at line 87 of file single_thread_locomotor.cpp.

◆ setGoal()

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

Definition at line 71 of file single_thread_locomotor.cpp.

Member Data Documentation

◆ as_

LocomotorActionServer locomotor::SingleThreadLocomotor::as_
protected

Definition at line 188 of file single_thread_locomotor.cpp.

◆ control_loop_timer_

ros::Timer locomotor::SingleThreadLocomotor::control_loop_timer_
protected

Definition at line 182 of file single_thread_locomotor.cpp.

◆ controller_frequency_

double locomotor::SingleThreadLocomotor::controller_frequency_ { 20.0 }
protected

Definition at line 180 of file single_thread_locomotor.cpp.

◆ desired_control_duration_

ros::Duration locomotor::SingleThreadLocomotor::desired_control_duration_
protected

Definition at line 181 of file single_thread_locomotor.cpp.

◆ locomotor_

Locomotor locomotor::SingleThreadLocomotor::locomotor_
protected

Definition at line 177 of file single_thread_locomotor.cpp.

◆ main_ex_

Executor locomotor::SingleThreadLocomotor::main_ex_
protected

Definition at line 185 of file single_thread_locomotor.cpp.

◆ private_nh_

ros::NodeHandle locomotor::SingleThreadLocomotor::private_nh_
protected

Definition at line 175 of file single_thread_locomotor.cpp.

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

locomotor
Author(s):
autogenerated on Mon Feb 28 2022 23:33:01