mbf_simple_nav::SimpleNavigationServer Class Reference

The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces. More...

#include <simple_navigation_server.h>

Inheritance diagram for mbf_simple_nav::SimpleNavigationServer:

Public Member Functions
virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Empty init method. Nothing to initialize. More...
virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Empty init method. Nothing to initialize. More...
virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized! 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...
	SimpleNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor. More...
virtual	~SimpleNavigationServer ()
	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 mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr &plugin_ptr)
virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr &plugin_ptr)
virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr &plugin_ptr)
virtual void	startActionServers ()
virtual void	stop ()
virtual	~AbstractNavigationServer ()

Private Attributes
pluginlib::ClassLoader< mbf_abstract_core::AbstractController >	controller_plugin_loader_
pluginlib::ClassLoader< mbf_abstract_core::AbstractPlanner >	planner_plugin_loader_
pluginlib::ClassLoader< mbf_abstract_core::AbstractRecovery >	recovery_plugin_loader_

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 SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces.

Definition at line 63 of file simple_navigation_server.h.

Constructor & Destructor Documentation

SimpleNavigationServer()

mbf_simple_nav::SimpleNavigationServer::SimpleNavigationServer

(

const TFPtr &

tf_listener_ptr

)

Constructor.

Parameters

tf_listener_ptr

Shared pointer to a common TransformListener

Definition at line 46 of file simple_navigation_server.cpp.

~SimpleNavigationServer()

mbf_simple_nav::SimpleNavigationServer::~SimpleNavigationServer ( )

virtual

Destructor.

Definition at line 138 of file simple_navigation_server.cpp.

Member Function Documentation

initializeControllerPlugin()

bool mbf_simple_nav::SimpleNavigationServer::initializeControllerPlugin ( const std::string &  name, const mbf_abstract_core::AbstractController::Ptr &  controller_ptr  )

virtual

Empty init method. Nothing to initialize.

Parameters

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

Returns

true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 105 of file simple_navigation_server.cpp.

initializePlannerPlugin()

bool mbf_simple_nav::SimpleNavigationServer::initializePlannerPlugin ( const std::string &  name, const mbf_abstract_core::AbstractPlanner::Ptr &  planner_ptr  )

virtual

Empty init method. Nothing to initialize.

Parameters

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

Returns

true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 77 of file simple_navigation_server.cpp.

initializeRecoveryPlugin()

bool mbf_simple_nav::SimpleNavigationServer::initializeRecoveryPlugin ( const std::string &  name, const mbf_abstract_core::AbstractRecovery::Ptr &  behavior_ptr  )

virtual

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters

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

Returns

true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 130 of file simple_navigation_server.cpp.

loadControllerPlugin()

mbf_abstract_core::AbstractController::Ptr mbf_simple_nav::SimpleNavigationServer::loadControllerPlugin ( const std::string &  controller_type )

virtual

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 86 of file simple_navigation_server.cpp.

loadPlannerPlugin()

mbf_abstract_core::AbstractPlanner::Ptr mbf_simple_nav::SimpleNavigationServer::loadPlannerPlugin ( const std::string &  planner_type )

virtual

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 59 of file simple_navigation_server.cpp.

loadRecoveryPlugin()

mbf_abstract_core::AbstractRecovery::Ptr mbf_simple_nav::SimpleNavigationServer::loadRecoveryPlugin ( const std::string &  recovery_type )

virtual

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 112 of file simple_navigation_server.cpp.

Member Data Documentation

controller_plugin_loader_

pluginlib::ClassLoader<mbf_abstract_core::AbstractController> mbf_simple_nav::SimpleNavigationServer::controller_plugin_loader_

private

Definition at line 136 of file simple_navigation_server.h.

planner_plugin_loader_

pluginlib::ClassLoader<mbf_abstract_core::AbstractPlanner> mbf_simple_nav::SimpleNavigationServer::planner_plugin_loader_

private

Definition at line 135 of file simple_navigation_server.h.

recovery_plugin_loader_

pluginlib::ClassLoader<mbf_abstract_core::AbstractRecovery> mbf_simple_nav::SimpleNavigationServer::recovery_plugin_loader_

private

Definition at line 137 of file simple_navigation_server.h.

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

• simple_navigation_server.h
• simple_navigation_server.cpp