The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles (de)activation. More...

#include <costmap_wrapper.h>

Inheritance diagram for mbf_costmap_nav::CostmapWrapper:

Public Types
typedef boost::shared_ptr< CostmapWrapper >	Ptr

Public Member Functions
void	checkActivate ()
	Check whether the costmap should be activated. More...

void	checkDeactivate ()
	Check whether the costmap should and could be deactivated. More...

void	clear ()
	Clear costmap. More...

	CostmapWrapper (const std::string &name, const TFPtr &tf_listener_ptr)
	Constructor. More...

void	reconfigure (double shutdown_costmap, double shutdown_costmap_delay)
	Reconfiguration method called by dynamic reconfigure. More...

virtual	~CostmapWrapper ()
	Destructor. More...

Public Member Functions inherited from costmap_2d::Costmap2DROS
	Costmap2DROS (const std::string &name, tf2_ros::Buffer &tf)

const std::string &	getBaseFrameID () const noexcept

Costmap2D *	getCostmap () const

const std::string &	getGlobalFrameID () const noexcept

LayeredCostmap *	getLayeredCostmap () const

const std::string &	getName () const noexcept

void	getOrientedFootprint (std::vector< geometry_msgs::Point > &oriented_footprint) const

const std::vector< geometry_msgs::Point > &	getRobotFootprint () const noexcept

geometry_msgs::Polygon	getRobotFootprintPolygon () const

bool	getRobotPose (geometry_msgs::PoseStamped &global_pose) const

double	getTransformTolerance () const

const std::vector< geometry_msgs::Point > &	getUnpaddedRobotFootprint () const noexcept

bool	isCurrent () const

bool	isStopped () const

void	pause ()

void	resetLayers ()

void	resume ()

void	setUnpaddedRobotFootprint (const std::vector< geometry_msgs::Point > &points)

void	setUnpaddedRobotFootprintPolygon (const geometry_msgs::Polygon &footprint)

void	start ()

void	stop ()

void	updateMap ()

	~Costmap2DROS ()

Private Member Functions
void	deactivate (const ros::TimerEvent &event)
	Timer-triggered deactivation of the costmap. More...

Private Attributes
boost::mutex	check_costmap_mutex_
	Start/stop costmap mutex; concurrent calls to start can lead to segfault. More...

bool	clear_on_shutdown_
	clear the costmap, when shutting down More...

int16_t	costmap_users_
	keep track of plugins using costmap More...

ros::NodeHandle	private_nh_
	Private node handle. More...

bool	shutdown_costmap_
	don't update costmap when not using it More...

ros::Duration	shutdown_costmap_delay_
	costmap delayed shutdown delay More...

ros::Timer	shutdown_costmap_timer_
	costmap delayed shutdown timer More...

Additional Inherited Members
Protected Attributes inherited from costmap_2d::Costmap2DROS
std::string	global_frame_

LayeredCostmap *	layered_costmap_

std::string	name_

std::string	robot_base_frame_

tf2_ros::Buffer &	tf_

double	transform_tolerance_

Detailed Description

The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles (de)activation.

Definition at line 63 of file costmap_wrapper.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 66 of file costmap_wrapper.h.

Constructor & Destructor Documentation

◆ CostmapWrapper()

mbf_costmap_nav::CostmapWrapper::CostmapWrapper	(	const std::string &	name,
		const TFPtr &	tf_listener_ptr
	)

Constructor.

Parameters

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 48 of file costmap_wrapper.cpp.

◆ ~CostmapWrapper()

mbf_costmap_nav::CostmapWrapper::~CostmapWrapper ( )

virtual

Destructor.

Definition at line 65 of file costmap_wrapper.cpp.

Member Function Documentation

◆ checkActivate()

void mbf_costmap_nav::CostmapWrapper::checkActivate ( )

Check whether the costmap should be activated.

Definition at line 96 of file costmap_wrapper.cpp.

◆ checkDeactivate()

void mbf_costmap_nav::CostmapWrapper::checkDeactivate ( )

Check whether the costmap should and could be deactivated.

Definition at line 112 of file costmap_wrapper.cpp.

◆ clear()

void mbf_costmap_nav::CostmapWrapper::clear ( )

Clear costmap.

Definition at line 89 of file costmap_wrapper.cpp.

◆ deactivate()

void mbf_costmap_nav::CostmapWrapper::deactivate ( const ros::TimerEvent & event )

private

Timer-triggered deactivation of the costmap.

Definition at line 128 of file costmap_wrapper.cpp.

◆ reconfigure()

void mbf_costmap_nav::CostmapWrapper::reconfigure	(	double	shutdown_costmap,
		double	shutdown_costmap_delay
	)

Reconfiguration method called by dynamic reconfigure.

Parameters

shutdown_costmap	Determines whether or not to shutdown the costmap when move_base_flex is inactive.
shutdown_costmap_delay	How long in seconds to wait after last action before shutting down the costmap.

Definition at line 71 of file costmap_wrapper.cpp.

Member Data Documentation

◆ check_costmap_mutex_

boost::mutex mbf_costmap_nav::CostmapWrapper::check_costmap_mutex_

private

Start/stop costmap mutex; concurrent calls to start can lead to segfault.

Definition at line 110 of file costmap_wrapper.h.

◆ clear_on_shutdown_

bool mbf_costmap_nav::CostmapWrapper::clear_on_shutdown_

private

clear the costmap, when shutting down

Definition at line 112 of file costmap_wrapper.h.

◆ costmap_users_

int16_t mbf_costmap_nav::CostmapWrapper::costmap_users_

private

keep track of plugins using costmap

Definition at line 113 of file costmap_wrapper.h.

◆ private_nh_

ros::NodeHandle mbf_costmap_nav::CostmapWrapper::private_nh_

private

Private node handle.

Definition at line 108 of file costmap_wrapper.h.

◆ shutdown_costmap_

bool mbf_costmap_nav::CostmapWrapper::shutdown_costmap_

private

don't update costmap when not using it

Definition at line 111 of file costmap_wrapper.h.

◆ shutdown_costmap_delay_

ros::Duration mbf_costmap_nav::CostmapWrapper::shutdown_costmap_delay_

private

costmap delayed shutdown delay

Definition at line 115 of file costmap_wrapper.h.

◆ shutdown_costmap_timer_

ros::Timer mbf_costmap_nav::CostmapWrapper::shutdown_costmap_timer_

private

costmap delayed shutdown timer

Definition at line 114 of file costmap_wrapper.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ CostmapWrapper()

◆ ~CostmapWrapper()

Member Function Documentation

◆ checkActivate()

◆ checkDeactivate()

◆ clear()

◆ deactivate()

◆ reconfigure()

Member Data Documentation

◆ check_costmap_mutex_

◆ clear_on_shutdown_

◆ costmap_users_

◆ private_nh_

◆ shutdown_costmap_

◆ shutdown_costmap_delay_

◆ shutdown_costmap_timer_