#include <graceful_controller_ros.hpp>

Inheritance diagram for graceful_controller::GracefulControllerROS:

Public Member Functions
virtual 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...

	GracefulControllerROS ()

virtual void	initialize (std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the local planner. More...

virtual bool	isGoalReached ()
	Check if the goal pose has been achieved by the local planner. More...

void	reconfigureCallback (GracefulControllerConfig &config, uint32_t level)
	Callback for dynamic reconfigure server. More...

double	rotateTowards (const geometry_msgs::PoseStamped &pose, geometry_msgs::Twist &cmd_vel)
	Rotate the robot towards a goal. More...

void	rotateTowards (double yaw, geometry_msgs::Twist &cmd_vel)
	Rotate the robot towards an angle. More...

virtual bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)
	Set the plan that the local planner is following. More...

virtual	~GracefulControllerROS ()

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

Private Member Functions
bool	simulate (const geometry_msgs::PoseStamped &target_pose, geometry_msgs::Twist &cmd_vel)
	Simulate a path. More...

void	velocityCallback (const std_msgs::Float32::ConstPtr &max_vel_x)

Private Attributes
double	acc_dt_

double	acc_lim_theta_

double	acc_lim_x_

tf2_ros::Buffer *	buffer_

ros::Publisher	collision_point_pub_

visualization_msgs::MarkerArray *	collision_points_

bool	compute_orientations_

std::mutex	config_mutex_

GracefulControllerPtr	controller_

costmap_2d::Costmap2DROS *	costmap_ros_

double	decel_lim_x_

dynamic_reconfigure::Server< GracefulControllerConfig > *	dsrv_

ros::Publisher	global_plan_pub_

bool	goal_tolerance_met_

bool	has_new_path_

double	initial_rotate_tolerance_

bool	initialized_

bool	latch_xy_goal_tolerance_

ros::Publisher	local_plan_pub_

double	max_lookahead_

ros::Subscriber	max_vel_sub_

double	max_vel_theta_

double	max_vel_theta_limited_

double	max_vel_x_

double	max_x_to_max_theta_scale_factor_

double	min_in_place_vel_theta_

double	min_lookahead_

double	min_vel_x_

base_local_planner::OdometryHelperRos	odom_helper_

base_local_planner::LocalPlannerUtil	planner_util_

bool	prefer_final_rotation_

double	resolution_

geometry_msgs::PoseStamped	robot_pose_

geometry_msgs::TransformStamped	robot_to_costmap_transform_

double	scaling_factor_

double	scaling_step_

double	scaling_vel_x_

ros::Publisher	target_pose_pub_

bool	use_orientation_filter_

double	xy_goal_tolerance_

double	xy_vel_goal_tolerance_

double	yaw_filter_tolerance_

double	yaw_gap_tolerance_

double	yaw_goal_tolerance_

double	yaw_vel_goal_tolerance_

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

Detailed Description

Definition at line 98 of file graceful_controller_ros.hpp.

Constructor & Destructor Documentation

◆ GracefulControllerROS()

graceful_controller::GracefulControllerROS::GracefulControllerROS ( )

Definition at line 181 of file graceful_controller_ros.cpp.

◆ ~GracefulControllerROS()

graceful_controller::GracefulControllerROS::~GracefulControllerROS ( )

virtual

Definition at line 185 of file graceful_controller_ros.cpp.

Member Function Documentation

◆ computeVelocityCommands()

bool graceful_controller::GracefulControllerROS::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 velocity command was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 327 of file graceful_controller_ros.cpp.

◆ initialize()

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

virtual

Constructs the local planner.

Parameters

name	The name to give this instance of the local planner
tf	A pointer to a transform buffer
costmap_ros	The cost map to use for assigning costs to local plans

Implements nav_core::BaseLocalPlanner.

Definition at line 197 of file graceful_controller_ros.cpp.

◆ isGoalReached()

bool graceful_controller::GracefulControllerROS::isGoalReached ( )

virtual

Check if the goal pose has been achieved by the local planner.

Returns: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 680 of file graceful_controller_ros.cpp.

◆ reconfigureCallback()

void graceful_controller::GracefulControllerROS::reconfigureCallback	(	GracefulControllerConfig &	config,
		uint32_t	level
	)

Callback for dynamic reconfigure server.

Definition at line 253 of file graceful_controller_ros.cpp.

◆ rotateTowards() [1/2]

double graceful_controller::GracefulControllerROS::rotateTowards	(	const geometry_msgs::PoseStamped &	pose,
		geometry_msgs::Twist &	cmd_vel
	)

Rotate the robot towards a goal.

Parameters

pose	The pose should always be in base frame!
cmd_vel	The returned command velocity

Returns: The computed angular error.

Definition at line 777 of file graceful_controller_ros.cpp.

◆ rotateTowards() [2/2]

void graceful_controller::GracefulControllerROS::rotateTowards	(	double	yaw,
		geometry_msgs::Twist &	cmd_vel
	)

Rotate the robot towards an angle.

Parameters

yaw	The angle to rotate.
cmd_vel	The returned command velocity.

Definition at line 801 of file graceful_controller_ros.cpp.

◆ setPlan()

bool graceful_controller::GracefulControllerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & plan )

virtual

Set the plan that the local planner is following.

Parameters

plan	The plan to pass to the local planner

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

Implements nav_core::BaseLocalPlanner.

Definition at line 731 of file graceful_controller_ros.cpp.

◆ simulate()

bool graceful_controller::GracefulControllerROS::simulate	(	const geometry_msgs::PoseStamped &	target_pose,
		geometry_msgs::Twist &	cmd_vel
	)

private

Simulate a path.

Parameters

target_pose	Pose to simulate towards.
cmd_vel	The returned command to execute.

Returns: True if the path is valid.

Definition at line 539 of file graceful_controller_ros.cpp.

◆ velocityCallback()

void graceful_controller::GracefulControllerROS::velocityCallback ( const std_msgs::Float32::ConstPtr & max_vel_x )

private

Definition at line 822 of file graceful_controller_ros.cpp.

Member Data Documentation

◆ acc_dt_

double graceful_controller::GracefulControllerROS::acc_dt_

private

Definition at line 235 of file graceful_controller_ros.hpp.

◆ acc_lim_theta_

double graceful_controller::GracefulControllerROS::acc_lim_theta_

private

Definition at line 223 of file graceful_controller_ros.hpp.

◆ acc_lim_x_

double graceful_controller::GracefulControllerROS::acc_lim_x_

private

Definition at line 222 of file graceful_controller_ros.hpp.

◆ buffer_

tf2_ros::Buffer* graceful_controller::GracefulControllerROS::buffer_

private

Definition at line 207 of file graceful_controller_ros.hpp.

◆ collision_point_pub_

ros::Publisher graceful_controller::GracefulControllerROS::collision_point_pub_

private

Definition at line 251 of file graceful_controller_ros.hpp.

◆ collision_points_

visualization_msgs::MarkerArray* graceful_controller::GracefulControllerROS::collision_points_

private

Definition at line 252 of file graceful_controller_ros.hpp.

◆ compute_orientations_

bool graceful_controller::GracefulControllerROS::compute_orientations_

private

Definition at line 239 of file graceful_controller_ros.hpp.

◆ config_mutex_

std::mutex graceful_controller::GracefulControllerROS::config_mutex_

private

Definition at line 214 of file graceful_controller_ros.hpp.

◆ controller_

GracefulControllerPtr graceful_controller::GracefulControllerROS::controller_

private

Definition at line 205 of file graceful_controller_ros.hpp.

◆ costmap_ros_

costmap_2d::Costmap2DROS* graceful_controller::GracefulControllerROS::costmap_ros_

private

Definition at line 208 of file graceful_controller_ros.hpp.

◆ decel_lim_x_

double graceful_controller::GracefulControllerROS::decel_lim_x_

private

Definition at line 224 of file graceful_controller_ros.hpp.

◆ dsrv_

dynamic_reconfigure::Server<GracefulControllerConfig>* graceful_controller::GracefulControllerROS::dsrv_

private

Definition at line 215 of file graceful_controller_ros.hpp.

◆ global_plan_pub_

ros::Publisher graceful_controller::GracefulControllerROS::global_plan_pub_

private

Definition at line 201 of file graceful_controller_ros.hpp.

◆ goal_tolerance_met_

bool graceful_controller::GracefulControllerROS::goal_tolerance_met_

private

Definition at line 244 of file graceful_controller_ros.hpp.

◆ has_new_path_

bool graceful_controller::GracefulControllerROS::has_new_path_

private

Definition at line 248 of file graceful_controller_ros.hpp.

◆ initial_rotate_tolerance_

double graceful_controller::GracefulControllerROS::initial_rotate_tolerance_

private

Definition at line 247 of file graceful_controller_ros.hpp.

◆ initialized_

bool graceful_controller::GracefulControllerROS::initialized_

private

Definition at line 204 of file graceful_controller_ros.hpp.

◆ latch_xy_goal_tolerance_

bool graceful_controller::GracefulControllerROS::latch_xy_goal_tolerance_

private

Definition at line 243 of file graceful_controller_ros.hpp.

◆ local_plan_pub_

ros::Publisher graceful_controller::GracefulControllerROS::local_plan_pub_

private

Definition at line 201 of file graceful_controller_ros.hpp.

◆ max_lookahead_

double graceful_controller::GracefulControllerROS::max_lookahead_

private

Definition at line 233 of file graceful_controller_ros.hpp.

◆ max_vel_sub_

ros::Subscriber graceful_controller::GracefulControllerROS::max_vel_sub_

private

Definition at line 202 of file graceful_controller_ros.hpp.

◆ max_vel_theta_

double graceful_controller::GracefulControllerROS::max_vel_theta_

private

Definition at line 218 of file graceful_controller_ros.hpp.

◆ max_vel_theta_limited_

double graceful_controller::GracefulControllerROS::max_vel_theta_limited_

private

Definition at line 219 of file graceful_controller_ros.hpp.

◆ max_vel_x_

double graceful_controller::GracefulControllerROS::max_vel_x_

private

Definition at line 216 of file graceful_controller_ros.hpp.

◆ max_x_to_max_theta_scale_factor_

double graceful_controller::GracefulControllerROS::max_x_to_max_theta_scale_factor_

private

Definition at line 220 of file graceful_controller_ros.hpp.

◆ min_in_place_vel_theta_

double graceful_controller::GracefulControllerROS::min_in_place_vel_theta_

private

Definition at line 221 of file graceful_controller_ros.hpp.

◆ min_lookahead_

double graceful_controller::GracefulControllerROS::min_lookahead_

private

Definition at line 232 of file graceful_controller_ros.hpp.

◆ min_vel_x_

double graceful_controller::GracefulControllerROS::min_vel_x_

private

Definition at line 217 of file graceful_controller_ros.hpp.

◆ odom_helper_

base_local_planner::OdometryHelperRos graceful_controller::GracefulControllerROS::odom_helper_

private

Definition at line 211 of file graceful_controller_ros.hpp.

◆ planner_util_

base_local_planner::LocalPlannerUtil graceful_controller::GracefulControllerROS::planner_util_

private

Definition at line 210 of file graceful_controller_ros.hpp.

◆ prefer_final_rotation_

bool graceful_controller::GracefulControllerROS::prefer_final_rotation_

private

Definition at line 238 of file graceful_controller_ros.hpp.

◆ resolution_

double graceful_controller::GracefulControllerROS::resolution_

private

Definition at line 234 of file graceful_controller_ros.hpp.

◆ robot_pose_

geometry_msgs::PoseStamped graceful_controller::GracefulControllerROS::robot_pose_

private

Definition at line 254 of file graceful_controller_ros.hpp.

◆ robot_to_costmap_transform_

geometry_msgs::TransformStamped graceful_controller::GracefulControllerROS::robot_to_costmap_transform_

private

Definition at line 209 of file graceful_controller_ros.hpp.

◆ scaling_factor_

double graceful_controller::GracefulControllerROS::scaling_factor_

private

Definition at line 226 of file graceful_controller_ros.hpp.

◆ scaling_step_

double graceful_controller::GracefulControllerROS::scaling_step_

private

Definition at line 227 of file graceful_controller_ros.hpp.

◆ scaling_vel_x_

double graceful_controller::GracefulControllerROS::scaling_vel_x_

private

Definition at line 225 of file graceful_controller_ros.hpp.

◆ target_pose_pub_

ros::Publisher graceful_controller::GracefulControllerROS::target_pose_pub_

private

Definition at line 201 of file graceful_controller_ros.hpp.

◆ use_orientation_filter_

bool graceful_controller::GracefulControllerROS::use_orientation_filter_

private

Definition at line 240 of file graceful_controller_ros.hpp.

◆ xy_goal_tolerance_

double graceful_controller::GracefulControllerROS::xy_goal_tolerance_

private

Definition at line 228 of file graceful_controller_ros.hpp.

◆ xy_vel_goal_tolerance_

double graceful_controller::GracefulControllerROS::xy_vel_goal_tolerance_

private

Definition at line 230 of file graceful_controller_ros.hpp.

◆ yaw_filter_tolerance_

double graceful_controller::GracefulControllerROS::yaw_filter_tolerance_

private

Definition at line 236 of file graceful_controller_ros.hpp.

◆ yaw_gap_tolerance_

double graceful_controller::GracefulControllerROS::yaw_gap_tolerance_

private

Definition at line 237 of file graceful_controller_ros.hpp.

◆ yaw_goal_tolerance_

double graceful_controller::GracefulControllerROS::yaw_goal_tolerance_

private

Definition at line 229 of file graceful_controller_ros.hpp.

◆ yaw_vel_goal_tolerance_

double graceful_controller::GracefulControllerROS::yaw_vel_goal_tolerance_

private

Definition at line 231 of file graceful_controller_ros.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GracefulControllerROS()

◆ ~GracefulControllerROS()

Member Function Documentation

◆ computeVelocityCommands()

◆ initialize()

◆ isGoalReached()

◆ reconfigureCallback()

◆ rotateTowards() [1/2]

◆ rotateTowards() [2/2]

◆ setPlan()

◆ simulate()

◆ velocityCallback()

Member Data Documentation

◆ acc_dt_

◆ acc_lim_theta_

◆ acc_lim_x_

◆ buffer_

◆ collision_point_pub_

◆ collision_points_

◆ compute_orientations_

◆ config_mutex_

◆ controller_

◆ costmap_ros_

◆ decel_lim_x_

◆ dsrv_

◆ global_plan_pub_

◆ goal_tolerance_met_

◆ has_new_path_

◆ initial_rotate_tolerance_

◆ initialized_

◆ latch_xy_goal_tolerance_

◆ local_plan_pub_

◆ max_lookahead_

◆ max_vel_sub_

◆ max_vel_theta_

◆ max_vel_theta_limited_

◆ max_vel_x_

◆ max_x_to_max_theta_scale_factor_

◆ min_in_place_vel_theta_

◆ min_lookahead_

◆ min_vel_x_

◆ odom_helper_

◆ planner_util_

◆ prefer_final_rotation_

◆ resolution_

◆ robot_pose_

◆ robot_to_costmap_transform_

◆ scaling_factor_

◆ scaling_step_

◆ scaling_vel_x_

◆ target_pose_pub_

◆ use_orientation_filter_

◆ xy_goal_tolerance_

◆ xy_vel_goal_tolerance_

◆ yaw_filter_tolerance_

◆ yaw_gap_tolerance_

◆ yaw_goal_tolerance_

◆ yaw_vel_goal_tolerance_