The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base. More...

#include <costmap_navigation_server.h>

Inheritance diagram for mbf_costmap_nav::CostmapNavigationServer:

[legend]

Public Types
typedef boost::shared_ptr< CostmapNavigationServer >	Ptr

Public Member Functions
	CostmapNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor. More...

virtual void	stop ()

virtual	~CostmapNavigationServer ()
	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)

virtual void	initializeServerComponents ()

virtual void	startActionServers ()

virtual	~AbstractNavigationServer ()

Private Member Functions
bool	callServiceCheckPathCost (mbf_msgs::CheckPath::Request &request, mbf_msgs::CheckPath::Response &response)
	Callback method for the check_path_cost service. More...

bool	callServiceCheckPointCost (mbf_msgs::CheckPoint::Request &request, mbf_msgs::CheckPoint::Response &response)
	Callback method for the check_point_cost service. More...

bool	callServiceCheckPoseCost (mbf_msgs::CheckPose::Request &request, mbf_msgs::CheckPose::Response &response)
	Callback method for the check_pose_cost service. More...

bool	callServiceClearCostmaps (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Callback method for the make_plan service. More...

virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the costmap. More...

virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Initializes the controller plugin with its name and pointer to the costmap. More...

virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps. 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...

virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr &plugin_ptr)
	Create a new controller execution. More...

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr &plugin_ptr)
	Create a new planner execution. More...

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr &plugin_ptr)
	Create a new recovery behavior execution. More...

void	reconfigure (mbf_costmap_nav::MoveBaseFlexConfig &config, uint32_t level)
	Reconfiguration method called by dynamic reconfigure. More...

Private Attributes
ros::ServiceServer	check_path_cost_srv_
	Service Server for the check_path_cost service. More...

ros::ServiceServer	check_point_cost_srv_
	Service Server for the check_point_cost service. More...

ros::ServiceServer	check_pose_cost_srv_
	Service Server for the check_pose_cost service. More...

ros::ServiceServer	clear_costmaps_srv_
	Service Server for the clear_costmap service. More...

StringToMap	controller_name_to_costmap_ptr_
	Maps the controller names to the costmap ptr. More...

pluginlib::ClassLoader< mbf_costmap_core::CostmapController >	controller_plugin_loader_

mbf_costmap_nav::MoveBaseFlexConfig	default_config_
	the default parameter configuration save More...

DynamicReconfigureServerCostmapNav	dsrv_costmap_
	Dynamic reconfigure server for the mbf_costmap2d_specific part. More...

const CostmapWrapper::Ptr	global_costmap_ptr_
	Shared pointer to the common global costmap. More...

mbf_costmap_nav::MoveBaseFlexConfig	last_config_
	last configuration save More...

const CostmapWrapper::Ptr	local_costmap_ptr_
	Shared pointer to the common local costmap. More...

pluginlib::ClassLoader< nav_core::BaseLocalPlanner >	nav_core_controller_plugin_loader_

pluginlib::ClassLoader< nav_core::BaseGlobalPlanner >	nav_core_planner_plugin_loader_

pluginlib::ClassLoader< nav_core::RecoveryBehavior >	nav_core_recovery_plugin_loader_

StringToMap	planner_name_to_costmap_ptr_
	Maps planner names to the costmap ptr. More...

pluginlib::ClassLoader< mbf_costmap_core::CostmapPlanner >	planner_plugin_loader_

pluginlib::ClassLoader< mbf_costmap_core::CostmapRecovery >	recovery_plugin_loader_

bool	setup_reconfigure_
	true, if the dynamic reconfigure has been setup More...

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_

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_

ros::Publisher	goal_pub_

mbf_abstract_nav::MoveBaseFlexConfig	last_config_

MoveBaseAction	move_base_action_

PlannerAction	planner_action_

AbstractPluginManager< mbf_abstract_core::AbstractPlanner >	planner_plugin_manager_

ros::NodeHandle	private_nh_

RecoveryAction	recovery_action_

AbstractPluginManager< mbf_abstract_core::AbstractRecovery >	recovery_plugin_manager_

std::string	robot_frame_

mbf_utility::RobotInformation	robot_info_

bool	setup_reconfigure_

const TFPtr	tf_listener_ptr_

ros::Duration	tf_timeout_

ros::Publisher	vel_pub_

Detailed Description

The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base.

Definition at line 88 of file costmap_navigation_server.h.

Member Typedef Documentation

◆ Ptr

typedef boost::shared_ptr<CostmapNavigationServer> mbf_costmap_nav::CostmapNavigationServer::Ptr

Definition at line 92 of file costmap_navigation_server.h.

Constructor & Destructor Documentation

◆ CostmapNavigationServer()

mbf_costmap_nav::CostmapNavigationServer::CostmapNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor.

Parameters

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 156 of file costmap_navigation_server.cpp.

◆ ~CostmapNavigationServer()

mbf_costmap_nav::CostmapNavigationServer::~CostmapNavigationServer ( )

virtual

Destructor.

Definition at line 194 of file costmap_navigation_server.cpp.

Member Function Documentation

◆ callServiceCheckPathCost()

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPathCost	(	mbf_msgs::CheckPath::Request &	request,
		mbf_msgs::CheckPath::Response &	response
	)

private

Callback method for the check_path_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPath service definition file.
response	Response object, see the mbf_msgs/CheckPath service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 679 of file costmap_navigation_server.cpp.

◆ callServiceCheckPointCost()

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPointCost	(	mbf_msgs::CheckPoint::Request &	request,
		mbf_msgs::CheckPoint::Response &	response
	)

private

Callback method for the check_point_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPoint service definition file.
response	Response object, see the mbf_msgs/CheckPoint service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 479 of file costmap_navigation_server.cpp.

◆ callServiceCheckPoseCost()

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPoseCost	(	mbf_msgs::CheckPose::Request &	request,
		mbf_msgs::CheckPose::Response &	response
	)

private

Callback method for the check_pose_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPose service definition file.
response	Response object, see the mbf_msgs/CheckPose service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 556 of file costmap_navigation_server.cpp.

◆ callServiceClearCostmaps()

bool mbf_costmap_nav::CostmapNavigationServer::callServiceClearCostmaps	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

private

Callback method for the make_plan service.

Parameters

request	Empty request object.
response	Empty response object.

Returns: true, if the service completed successfully, false otherwise

Definition at line 822 of file costmap_navigation_server.cpp.

◆ initializeControllerPlugin()

bool mbf_costmap_nav::CostmapNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)

privatevirtual

Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the costmap.

Parameters

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

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 337 of file costmap_navigation_server.cpp.

◆ initializePlannerPlugin()

bool mbf_costmap_nav::CostmapNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)

privatevirtual

Initializes the controller plugin with its name and pointer to the costmap.

Parameters

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

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 284 of file costmap_navigation_server.cpp.

◆ initializeRecoveryPlugin()

bool mbf_costmap_nav::CostmapNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)

privatevirtual

Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps.

Parameters

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

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 401 of file costmap_navigation_server.cpp.

◆ loadControllerPlugin()

mbf_abstract_core::AbstractController::Ptr mbf_costmap_nav::CostmapNavigationServer::loadControllerPlugin ( const std::string & controller_type )

privatevirtual

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 306 of file costmap_navigation_server.cpp.

◆ loadPlannerPlugin()

mbf_abstract_core::AbstractPlanner::Ptr mbf_costmap_nav::CostmapNavigationServer::loadPlannerPlugin ( const std::string & planner_type )

privatevirtual

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 252 of file costmap_navigation_server.cpp.

◆ loadRecoveryPlugin()

mbf_abstract_core::AbstractRecovery::Ptr mbf_costmap_nav::CostmapNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type )

privatevirtual

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 364 of file costmap_navigation_server.cpp.

◆ newControllerExecution()

mbf_abstract_nav::AbstractControllerExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newControllerExecution	(	const std::string &	plugin_name,
		const mbf_abstract_core::AbstractController::Ptr &	plugin_ptr
	)

privatevirtual

Create a new controller execution.

Parameters

plugin_name	Name of the controller to use.
plugin_ptr	Shared pointer to the plugin to use.

Returns: Shared pointer to a new ControllerExecution.

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 228 of file costmap_navigation_server.cpp.

◆ newPlannerExecution()

mbf_abstract_nav::AbstractPlannerExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newPlannerExecution	(	const std::string &	plugin_name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	plugin_ptr
	)

privatevirtual

Create a new planner execution.

Parameters

plugin_name	Name of the planner to use.
plugin_ptr	Shared pointer to the plugin to use.

Returns: Shared pointer to a new PlannerExecution.

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 217 of file costmap_navigation_server.cpp.

◆ newRecoveryExecution()

mbf_abstract_nav::AbstractRecoveryExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newRecoveryExecution	(	const std::string &	plugin_name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	plugin_ptr
	)