Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
locomove_base::LocoMoveBase Class Reference

#include <locomove_base.h>

Public Member Functions

 LocoMoveBase (const ros::NodeHandle &nh)
 
void resetState ()
 
void setGoal (nav_2d_msgs::Pose2DStamped goal)
 

Protected Member Functions

void controlLoopCallback (const ros::TimerEvent &event)
 
void executeCB ()
 
costmap_2d::Costmap2DROS * getCostmapPointer (const nav_core2::Costmap::Ptr &costmap)
 
void goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
 
void loadDefaultRecoveryBehaviors ()
 Loads the default recovery behaviors for the navigation stack. More...
 
bool loadRecoveryBehaviors (ros::NodeHandle node)
 Load the recovery behaviors for the navigation stack from the parameter server. More...
 
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 planLoopCallback (const ros::TimerEvent &event)
 
void preemptCB ()
 
void publishZeroVelocity ()
 
void recovery ()
 
void requestGlobalCostmapUpdate ()
 
void requestNavigationFailure (const locomotor_msgs::ResultCode &result)
 

Protected Attributes

ros::Timer control_loop_timer_
 
costmap_2d::Costmap2DROS * controller_costmap_ros_
 
double controller_frequency_ { 20.0 }
 
double controller_patience_ { 15.0 }
 
ros::Duration desired_control_duration_
 
ros::Duration desired_plan_duration_
 
locomotor::Executor global_planning_ex_
 
ros::Publisher goal_pub_
 
ros::Subscriber goal_sub_
 
bool has_global_plan_
 
ros::Time last_oscillation_reset_
 
ros::Time last_valid_control_
 
ros::Time last_valid_plan_
 
locomotor::Executor local_planning_ex_
 
locomotor::Locomotor locomotor_
 
int max_planning_retries_ {-1}
 
double oscillation_distance_ {0.5}
 
geometry_msgs::Pose2D oscillation_pose_
 
double oscillation_timeout_ {0.0}
 
ros::Timer plan_loop_timer_
 
costmap_2d::Costmap2DROS * planner_costmap_ros_
 
double planner_frequency_ { 10.0 }
 
double planner_patience_ { 5.0 }
 
int planning_retries_
 
ros::NodeHandle private_nh_
 
bool recovery_behavior_enabled_ { true }
 
std::vector< boost::shared_ptr< nav_core::RecoveryBehavior > > recovery_behaviors_
 
unsigned int recovery_index_
 
pluginlib::ClassLoader< nav_core::RecoveryBehavior > recovery_loader_
 
RecoveryTrigger recovery_trigger_
 
actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction > server_
 

Detailed Description

Definition at line 52 of file locomove_base.h.

Constructor & Destructor Documentation

◆ LocoMoveBase()

locomove_base::LocoMoveBase::LocoMoveBase ( const ros::NodeHandle &  nh)
explicit

Definition at line 154 of file locomove_base.cpp.

Member Function Documentation

◆ controlLoopCallback()

void locomove_base::LocoMoveBase::controlLoopCallback ( const ros::TimerEvent &  event)
protected

Definition at line 336 of file locomove_base.cpp.

◆ executeCB()

void locomove_base::LocoMoveBase::executeCB ( )
protected

Definition at line 629 of file locomove_base.cpp.

◆ getCostmapPointer()

costmap_2d::Costmap2DROS * locomove_base::LocoMoveBase::getCostmapPointer ( const nav_core2::Costmap::Ptr &  costmap)
protected

Definition at line 230 of file locomove_base.cpp.

◆ goalCB()

void locomove_base::LocoMoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr &  goal)
protected

Definition at line 624 of file locomove_base.cpp.

◆ loadDefaultRecoveryBehaviors()

void locomove_base::LocoMoveBase::loadDefaultRecoveryBehaviors ( )
protected

Loads the default recovery behaviors for the navigation stack.

Definition at line 577 of file locomove_base.cpp.

◆ loadRecoveryBehaviors()

bool locomove_base::LocoMoveBase::loadRecoveryBehaviors ( ros::NodeHandle  node)
protected

Load the recovery behaviors for the navigation stack from the parameter server.

Parameters
nodeThe ros::NodeHandle to be used for loading parameters
Returns
True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 492 of file locomove_base.cpp.

◆ onGlobalCostmapException()

void locomove_base::LocoMoveBase::onGlobalCostmapException ( nav_core2::NavCore2ExceptionPtr  e_ptr,
const ros::Duration &  planning_time 
)
protected

Definition at line 288 of file locomove_base.cpp.

◆ onGlobalCostmapUpdate()

void locomove_base::LocoMoveBase::onGlobalCostmapUpdate ( const ros::Duration &  planning_time)
protected

Definition at line 280 of file locomove_base.cpp.

◆ onGlobalPlanningException()

void locomove_base::LocoMoveBase::onGlobalPlanningException ( nav_core2::NavCore2ExceptionPtr  e_ptr,
const ros::Duration &  planning_time 
)
protected

Definition at line 318 of file locomove_base.cpp.

◆ onLocalCostmapException()

void locomove_base::LocoMoveBase::onLocalCostmapException ( nav_core2::NavCore2ExceptionPtr  e_ptr,
const ros::Duration &  planning_time 
)
protected

Definition at line 359 of file locomove_base.cpp.

◆ onLocalCostmapUpdate()

void locomove_base::LocoMoveBase::onLocalCostmapUpdate ( const ros::Duration &  planning_time)
protected

Definition at line 343 of file locomove_base.cpp.

◆ onLocalPlanningException()

void locomove_base::LocoMoveBase::onLocalPlanningException ( nav_core2::NavCore2ExceptionPtr  e_ptr,
const ros::Duration &  planning_time 
)
protected

Definition at line 401 of file locomove_base.cpp.

◆ onNavigationCompleted()

void locomove_base::LocoMoveBase::onNavigationCompleted ( )
protected

Definition at line 419 of file locomove_base.cpp.

◆ onNavigationFailure()

void locomove_base::LocoMoveBase::onNavigationFailure ( const locomotor_msgs::ResultCode  result)
protected

Definition at line 430 of file locomove_base.cpp.

◆ onNewGlobalPlan()

void locomove_base::LocoMoveBase::onNewGlobalPlan ( nav_2d_msgs::Path2D  new_global_plan,
const ros::Duration &  planning_time 
)
protected

Definition at line 298 of file locomove_base.cpp.

◆ onNewLocalPlan()

void locomove_base::LocoMoveBase::onNewLocalPlan ( nav_2d_msgs::Twist2DStamped  new_command,
const ros::Duration &  planning_time 
)
protected

Definition at line 366 of file locomove_base.cpp.

◆ planLoopCallback()

void locomove_base::LocoMoveBase::planLoopCallback ( const ros::TimerEvent &  event)
protected

Definition at line 268 of file locomove_base.cpp.

◆ preemptCB()

void locomove_base::LocoMoveBase::preemptCB ( )
protected

Definition at line 635 of file locomove_base.cpp.

◆ publishZeroVelocity()

void locomove_base::LocoMoveBase::publishZeroVelocity ( )
protected

Definition at line 257 of file locomove_base.cpp.

◆ recovery()

void locomove_base::LocoMoveBase::recovery ( )
protected

Definition at line 440 of file locomove_base.cpp.

◆ requestGlobalCostmapUpdate()

void locomove_base::LocoMoveBase::requestGlobalCostmapUpdate ( )
protected

Definition at line 273 of file locomove_base.cpp.

◆ requestNavigationFailure()

void locomove_base::LocoMoveBase::requestNavigationFailure ( const locomotor_msgs::ResultCode &  result)
protected

Definition at line 262 of file locomove_base.cpp.

◆ resetState()

void locomove_base::LocoMoveBase::resetState ( )

Definition at line 243 of file locomove_base.cpp.

◆ setGoal()

void locomove_base::LocoMoveBase::setGoal ( nav_2d_msgs::Pose2DStamped  goal)

Definition at line 215 of file locomove_base.cpp.

Member Data Documentation

◆ control_loop_timer_

ros::Timer locomove_base::LocoMoveBase::control_loop_timer_
protected

Definition at line 119 of file locomove_base.h.

◆ controller_costmap_ros_

costmap_2d::Costmap2DROS* locomove_base::LocoMoveBase::controller_costmap_ros_
protected

Definition at line 139 of file locomove_base.h.

◆ controller_frequency_

double locomove_base::LocoMoveBase::controller_frequency_ { 20.0 }
protected

Definition at line 117 of file locomove_base.h.

◆ controller_patience_

double locomove_base::LocoMoveBase::controller_patience_ { 15.0 }
protected

Definition at line 126 of file locomove_base.h.

◆ desired_control_duration_

ros::Duration locomove_base::LocoMoveBase::desired_control_duration_
protected

Definition at line 118 of file locomove_base.h.

◆ desired_plan_duration_

ros::Duration locomove_base::LocoMoveBase::desired_plan_duration_
protected

Definition at line 118 of file locomove_base.h.

◆ global_planning_ex_

locomotor::Executor locomove_base::LocoMoveBase::global_planning_ex_
protected

Definition at line 122 of file locomove_base.h.

◆ goal_pub_

ros::Publisher locomove_base::LocoMoveBase::goal_pub_
protected

Definition at line 142 of file locomove_base.h.

◆ goal_sub_

ros::Subscriber locomove_base::LocoMoveBase::goal_sub_
protected

Definition at line 102 of file locomove_base.h.

◆ has_global_plan_

bool locomove_base::LocoMoveBase::has_global_plan_
protected

Definition at line 125 of file locomove_base.h.

◆ last_oscillation_reset_

ros::Time locomove_base::LocoMoveBase::last_oscillation_reset_
protected

Definition at line 133 of file locomove_base.h.

◆ last_valid_control_

ros::Time locomove_base::LocoMoveBase::last_valid_control_
protected

Definition at line 127 of file locomove_base.h.

◆ last_valid_plan_

ros::Time locomove_base::LocoMoveBase::last_valid_plan_
protected

Definition at line 127 of file locomove_base.h.

◆ local_planning_ex_

locomotor::Executor locomove_base::LocoMoveBase::local_planning_ex_
protected

Definition at line 122 of file locomove_base.h.

◆ locomotor_

locomotor::Locomotor locomove_base::LocoMoveBase::locomotor_
protected

Definition at line 98 of file locomove_base.h.

◆ max_planning_retries_

int locomove_base::LocoMoveBase::max_planning_retries_ {-1}
protected

Definition at line 128 of file locomove_base.h.

◆ oscillation_distance_

double locomove_base::LocoMoveBase::oscillation_distance_ {0.5}
protected

Definition at line 132 of file locomove_base.h.

◆ oscillation_pose_

geometry_msgs::Pose2D locomove_base::LocoMoveBase::oscillation_pose_
protected

Definition at line 134 of file locomove_base.h.

◆ oscillation_timeout_

double locomove_base::LocoMoveBase::oscillation_timeout_ {0.0}
protected

Definition at line 132 of file locomove_base.h.

◆ plan_loop_timer_

ros::Timer locomove_base::LocoMoveBase::plan_loop_timer_
protected

Definition at line 119 of file locomove_base.h.

◆ planner_costmap_ros_

costmap_2d::Costmap2DROS* locomove_base::LocoMoveBase::planner_costmap_ros_
protected

Definition at line 138 of file locomove_base.h.

◆ planner_frequency_

double locomove_base::LocoMoveBase::planner_frequency_ { 10.0 }
protected

Definition at line 117 of file locomove_base.h.

◆ planner_patience_

double locomove_base::LocoMoveBase::planner_patience_ { 5.0 }
protected

Definition at line 126 of file locomove_base.h.

◆ planning_retries_

int locomove_base::LocoMoveBase::planning_retries_
protected

Definition at line 129 of file locomove_base.h.

◆ private_nh_

ros::NodeHandle locomove_base::LocoMoveBase::private_nh_
protected

Definition at line 97 of file locomove_base.h.

◆ recovery_behavior_enabled_

bool locomove_base::LocoMoveBase::recovery_behavior_enabled_ { true }
protected

Definition at line 114 of file locomove_base.h.

◆ recovery_behaviors_

std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > locomove_base::LocoMoveBase::recovery_behaviors_
protected

Definition at line 112 of file locomove_base.h.

◆ recovery_index_

unsigned int locomove_base::LocoMoveBase::recovery_index_
protected

Definition at line 113 of file locomove_base.h.

◆ recovery_loader_

pluginlib::ClassLoader<nav_core::RecoveryBehavior> locomove_base::LocoMoveBase::recovery_loader_
protected

Definition at line 111 of file locomove_base.h.

◆ recovery_trigger_

RecoveryTrigger locomove_base::LocoMoveBase::recovery_trigger_
protected

Definition at line 110 of file locomove_base.h.

◆ server_

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> locomove_base::LocoMoveBase::server_
protected

Definition at line 107 of file locomove_base.h.

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

locomove_base
Author(s):
autogenerated on Sun May 18 2025 02:47:39