#include <move_base_action.h>

Public Types
typedef actionlib::SimpleActionClient< mbf_msgs::ExePathAction >	ActionClientExePath

typedef actionlib::SimpleActionClient< mbf_msgs::GetPathAction >	ActionClientGetPath
	Action clients for the MoveBase action. More...

typedef actionlib::SimpleActionClient< mbf_msgs::RecoveryAction >	ActionClientRecovery

typedef actionlib::ActionServer< mbf_msgs::MoveBaseAction >::GoalHandle	GoalHandle

Public Member Functions
void	cancel ()

	MoveBaseAction (const std::string &name, const mbf_utility::RobotInformation &robot_info, const std::vector< std::string > &controllers)

void	reconfigure (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)

void	start (GoalHandle &goal_handle)

	~MoveBaseAction ()

Protected Types
enum	MoveBaseActionState { NONE, GET_PATH, EXE_PATH, RECOVERY, OSCILLATING, SUCCEEDED, CANCELED, FAILED }

Protected Member Functions
void	actionExePathActive ()

void	actionExePathDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::ExePathResultConstPtr &result)

void	actionExePathFeedback (const mbf_msgs::ExePathFeedbackConstPtr &feedback)

void	actionGetPathDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::GetPathResultConstPtr &result)

void	actionRecoveryDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::RecoveryResultConstPtr &result)

bool	attemptRecovery ()

template<typename ResultType >
void	fillMoveBaseResult (const ResultType &result, mbf_msgs::MoveBaseResult &move_base_result)

bool	replanningActive () const

void	replanningThread ()

Protected Attributes
ActionClientExePath	action_client_exe_path_
	Action client used by the move_base action. More...

ActionClientGetPath	action_client_get_path_
	Action client used by the move_base action. More...

ActionClientRecovery	action_client_recovery_
	Action client used by the move_base action. More...

MoveBaseActionState	action_state_

const std::vector< std::string > &	behaviors_

std::vector< std::string >::iterator	current_recovery_behavior_

double	dist_to_goal_
	current distance to goal (we will stop replanning if very close to avoid destabilizing the controller) More...

mbf_msgs::ExePathGoal	exe_path_goal_

mbf_msgs::GetPathGoal	get_path_goal_

GoalHandle	goal_handle_

geometry_msgs::PoseStamped	goal_pose_
	current goal pose; used to compute remaining distance and angle More...

geometry_msgs::PoseStamped	last_oscillation_pose_

ros::Time	last_oscillation_reset_

std::string	name_

double	oscillation_distance_
	minimal move distance to not detect an oscillation More...

ros::Duration	oscillation_timeout_
	timeout after a oscillation is detected More...

ros::NodeHandle	private_nh_

std::vector< std::string >	recovery_behaviors_

bool	recovery_enabled_
	true, if recovery behavior for the MoveBase action is enabled. More...

mbf_msgs::RecoveryGoal	recovery_goal_

MoveBaseActionState	recovery_trigger_

ros::Duration	replanning_period_
	Replanning period dynamically reconfigurable. More...

boost::thread	replanning_thread_
	Replanning thread, running permanently. More...

const mbf_utility::RobotInformation &	robot_info_
	current robot state More...

geometry_msgs::PoseStamped	robot_pose_
	current robot pose; updated with exe_path action feedback More...

Detailed Description

Definition at line 59 of file move_base_action.h.

Member Typedef Documentation

◆ ActionClientExePath

typedef actionlib::SimpleActionClient<mbf_msgs::ExePathAction> mbf_abstract_nav::MoveBaseAction::ActionClientExePath

Definition at line 65 of file move_base_action.h.

◆ ActionClientGetPath

typedef actionlib::SimpleActionClient<mbf_msgs::GetPathAction> mbf_abstract_nav::MoveBaseAction::ActionClientGetPath

Action clients for the MoveBase action.

Definition at line 64 of file move_base_action.h.

◆ ActionClientRecovery

typedef actionlib::SimpleActionClient<mbf_msgs::RecoveryAction> mbf_abstract_nav::MoveBaseAction::ActionClientRecovery

Definition at line 66 of file move_base_action.h.

◆ GoalHandle

typedef actionlib::ActionServer<mbf_msgs::MoveBaseAction>::GoalHandle mbf_abstract_nav::MoveBaseAction::GoalHandle

Definition at line 68 of file move_base_action.h.

Member Enumeration Documentation

◆ MoveBaseActionState

enum mbf_abstract_nav::MoveBaseAction::MoveBaseActionState

protected

Enumerator
NONE
GET_PATH
EXE_PATH
RECOVERY
OSCILLATING
SUCCEEDED
CANCELED
FAILED

Definition at line 179 of file move_base_action.h.

Constructor & Destructor Documentation

◆ MoveBaseAction()

mbf_abstract_nav::MoveBaseAction::MoveBaseAction	(	const std::string &	name,
		const mbf_utility::RobotInformation &	robot_info,
		const std::vector< std::string > &	controllers
	)

Definition at line 50 of file move_base_action.cpp.

◆ ~MoveBaseAction()

mbf_abstract_nav::MoveBaseAction::~MoveBaseAction ( )

Definition at line 69 of file move_base_action.cpp.

Member Function Documentation

◆ actionExePathActive()

void mbf_abstract_nav::MoveBaseAction::actionExePathActive ( )

protected

Definition at line 168 of file move_base_action.cpp.

◆ actionExePathDone()

void mbf_abstract_nav::MoveBaseAction::actionExePathDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::ExePathResultConstPtr &	result
	)

protected

Definition at line 319 of file move_base_action.cpp.

◆ actionExePathFeedback()

void mbf_abstract_nav::MoveBaseAction::actionExePathFeedback ( const mbf_msgs::ExePathFeedbackConstPtr & feedback )

protected

Definition at line 173 of file move_base_action.cpp.

◆ actionGetPathDone()

void mbf_abstract_nav::MoveBaseAction::actionGetPathDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::GetPathResultConstPtr &	result
	)

protected

Definition at line 232 of file move_base_action.cpp.

◆ actionRecoveryDone()

void mbf_abstract_nav::MoveBaseAction::actionRecoveryDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::RecoveryResultConstPtr &	result
	)

protected

Definition at line 436 of file move_base_action.cpp.

◆ attemptRecovery()

bool mbf_abstract_nav::MoveBaseAction::attemptRecovery ( )

protected

Definition at line 404 of file move_base_action.cpp.

◆ cancel()

void mbf_abstract_nav::MoveBaseAction::cancel ( )

Definition at line 87 of file move_base_action.cpp.

◆ fillMoveBaseResult()

template<typename ResultType >

void mbf_abstract_nav::MoveBaseAction::fillMoveBaseResult	(	const ResultType &	result,
		mbf_msgs::MoveBaseResult &	move_base_result
	)

inlineprotected

Utility method that fills move base action result with the result of any of the action clients.

Template Parameters

ResultType

Parameters

result
move_base_result

Definition at line 114 of file move_base_action.h.

◆ reconfigure()

void mbf_abstract_nav::MoveBaseAction::reconfigure	(	mbf_abstract_nav::MoveBaseFlexConfig &	config,
		uint32_t	level
	)

Definition at line 75 of file move_base_action.cpp.

◆ replanningActive()

bool mbf_abstract_nav::MoveBaseAction::replanningActive ( ) const

protected

Definition at line 516 of file move_base_action.cpp.

◆ replanningThread()

void mbf_abstract_nav::MoveBaseAction::replanningThread ( )

protected

Definition at line 522 of file move_base_action.cpp.

◆ start()

void mbf_abstract_nav::MoveBaseAction::start ( GoalHandle & goal_handle )

Definition at line 107 of file move_base_action.cpp.

Member Data Documentation

◆ action_client_exe_path_

ActionClientExePath mbf_abstract_nav::MoveBaseAction::action_client_exe_path_

protected

Action client used by the move_base action.

Definition at line 153 of file move_base_action.h.

◆ action_client_get_path_

ActionClientGetPath mbf_abstract_nav::MoveBaseAction::action_client_get_path_

protected

Action client used by the move_base action.

Definition at line 156 of file move_base_action.h.

◆ action_client_recovery_

ActionClientRecovery mbf_abstract_nav::MoveBaseAction::action_client_recovery_

protected

Action client used by the move_base action.

Definition at line 159 of file move_base_action.h.

◆ action_state_

MoveBaseActionState mbf_abstract_nav::MoveBaseAction::action_state_

protected

Definition at line 191 of file move_base_action.h.

◆ behaviors_

const std::vector<std::string>& mbf_abstract_nav::MoveBaseAction::behaviors_

protected

Definition at line 177 of file move_base_action.h.

◆ current_recovery_behavior_

std::vector<std::string>::iterator mbf_abstract_nav::MoveBaseAction::current_recovery_behavior_

protected

Definition at line 175 of file move_base_action.h.

◆ dist_to_goal_

double mbf_abstract_nav::MoveBaseAction::dist_to_goal_

protected

current distance to goal (we will stop replanning if very close to avoid destabilizing the controller)

Definition at line 162 of file move_base_action.h.

◆ exe_path_goal_

mbf_msgs::ExePathGoal mbf_abstract_nav::MoveBaseAction::exe_path_goal_

protected

Definition at line 124 of file move_base_action.h.

◆ get_path_goal_

mbf_msgs::GetPathGoal mbf_abstract_nav::MoveBaseAction::get_path_goal_

protected

Definition at line 125 of file move_base_action.h.

◆ goal_handle_

GoalHandle mbf_abstract_nav::MoveBaseAction::goal_handle_

protected

Definition at line 137 of file move_base_action.h.

◆ goal_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::MoveBaseAction::goal_pose_

protected

current goal pose; used to compute remaining distance and angle

Definition at line 148 of file move_base_action.h.

◆ last_oscillation_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::MoveBaseAction::last_oscillation_pose_

protected

Definition at line 128 of file move_base_action.h.

◆ last_oscillation_reset_

ros::Time mbf_abstract_nav::MoveBaseAction::last_oscillation_reset_

protected

Definition at line 129 of file move_base_action.h.

◆ name_

std::string mbf_abstract_nav::MoveBaseAction::name_

protected

Definition at line 139 of file move_base_action.h.

◆ oscillation_distance_

double mbf_abstract_nav::MoveBaseAction::oscillation_distance_

protected

minimal move distance to not detect an oscillation

Definition at line 135 of file move_base_action.h.

◆ oscillation_timeout_

ros::Duration mbf_abstract_nav::MoveBaseAction::oscillation_timeout_

protected

timeout after a oscillation is detected

Definition at line 132 of file move_base_action.h.

◆ private_nh_

ros::NodeHandle mbf_abstract_nav::MoveBaseAction::private_nh_

protected

Definition at line 150 of file move_base_action.h.

◆ recovery_behaviors_

std::vector<std::string> mbf_abstract_nav::MoveBaseAction::recovery_behaviors_

protected

Definition at line 173 of file move_base_action.h.

◆ recovery_enabled_

bool mbf_abstract_nav::MoveBaseAction::recovery_enabled_

protected

true, if recovery behavior for the MoveBase action is enabled.

Definition at line 171 of file move_base_action.h.

◆ recovery_goal_

mbf_msgs::RecoveryGoal mbf_abstract_nav::MoveBaseAction::recovery_goal_

protected

Definition at line 126 of file move_base_action.h.

◆ recovery_trigger_

MoveBaseActionState mbf_abstract_nav::MoveBaseAction::recovery_trigger_

protected

Definition at line 192 of file move_base_action.h.

◆ replanning_period_

ros::Duration mbf_abstract_nav::MoveBaseAction::replanning_period_

protected

Replanning period dynamically reconfigurable.

Definition at line 165 of file move_base_action.h.

◆ replanning_thread_

boost::thread mbf_abstract_nav::MoveBaseAction::replanning_thread_

protected

Replanning thread, running permanently.

Definition at line 168 of file move_base_action.h.

◆ robot_info_

const mbf_utility::RobotInformation& mbf_abstract_nav::MoveBaseAction::robot_info_

protected

current robot state

Definition at line 142 of file move_base_action.h.

◆ robot_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::MoveBaseAction::robot_pose_

protected

current robot pose; updated with exe_path action feedback

Definition at line 145 of file move_base_action.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ActionClientExePath

◆ ActionClientGetPath

◆ ActionClientRecovery

◆ GoalHandle

Member Enumeration Documentation

◆ MoveBaseActionState

Constructor & Destructor Documentation

◆ MoveBaseAction()

◆ ~MoveBaseAction()

Member Function Documentation

◆ actionExePathActive()

◆ actionExePathDone()

◆ actionExePathFeedback()

◆ actionGetPathDone()

◆ actionRecoveryDone()

◆ attemptRecovery()

◆ cancel()

◆ fillMoveBaseResult()

◆ reconfigure()

◆ replanningActive()

◆ replanningThread()

◆ start()

Member Data Documentation

◆ action_client_exe_path_

◆ action_client_get_path_

◆ action_client_recovery_

◆ action_state_

◆ behaviors_

◆ current_recovery_behavior_

◆ dist_to_goal_

◆ exe_path_goal_

◆ get_path_goal_

◆ goal_handle_

◆ goal_pose_

◆ last_oscillation_pose_

◆ last_oscillation_reset_

◆ name_

◆ oscillation_distance_

◆ oscillation_timeout_

◆ private_nh_

◆ recovery_behaviors_

◆ recovery_enabled_

◆ recovery_goal_

◆ recovery_trigger_

◆ replanning_period_

◆ replanning_thread_

◆ robot_info_

◆ robot_pose_