costmap_controller_execution.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * costmap_controller_execution.h
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
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40 
41 #ifndef MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_
42 #define MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_
43 
46 
47 #include "mbf_costmap_nav/MoveBaseFlexConfig.h"
49 
50 
51 namespace mbf_costmap_nav
52 {
61 {
62 public:
63 
75  const std::string &controller_name,
76  const mbf_costmap_core::CostmapController::Ptr &controller_ptr,
77  const ros::Publisher &vel_pub,
78  const ros::Publisher &goal_pub,
79  const TFPtr &tf_listener_ptr,
80  const CostmapWrapper::Ptr &costmap_ptr,
81  const MoveBaseFlexConfig &config);
82 
87 
88 private:
89 
94  void preRun()
95  {
96  costmap_ptr_->checkActivate();
97  };
98 
103  void postRun()
104  {
105  costmap_ptr_->checkDeactivate();
106  };
107 
114  bool safetyCheck();
115 
125  virtual uint32_t computeVelocityCmd(
126  const geometry_msgs::PoseStamped &robot_pose,
127  const geometry_msgs::TwistStamped &robot_velocity,
128  geometry_msgs::TwistStamped &vel_cmd,
129  std::string &message);
130 
131  mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config);
132 
135 
138 
140  std::string controller_name_;
141 };
142 
143 } /* namespace mbf_costmap_nav */
144 
145 #endif /* MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_ */
mbf_costmap_nav::CostmapControllerExecution
The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the ...
Definition: costmap_controller_execution.h:60
ros::Publisher
boost::shared_ptr
mbf_costmap_nav::CostmapControllerExecution::CostmapControllerExecution
CostmapControllerExecution(const std::string &controller_name, const mbf_costmap_core::CostmapController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &costmap_ptr, const MoveBaseFlexConfig &config)
Constructor.
Definition: costmap_controller_execution.cpp:45
mbf_costmap_nav::CostmapControllerExecution::computeVelocityCmd
virtual uint32_t computeVelocityCmd(const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
Request plugin for a new velocity command. We override this method so we can lock the local costmap b...
Definition: costmap_controller_execution.cpp:77
costmap_wrapper.h
mbf_costmap_nav::CostmapControllerExecution::toAbstract
mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)
Definition: costmap_controller_execution.cpp:65
mbf_costmap_nav::CostmapControllerExecution::controller_name_
std::string controller_name_
name of the controller plugin assigned by the class loader
Definition: costmap_controller_execution.h:140
mbf_costmap_nav::CostmapControllerExecution::postRun
void postRun()
Implementation-specific cleanup function, called right after execution. This method overrides abstrac...
Definition: costmap_controller_execution.h:103
mbf_costmap_nav::CostmapControllerExecution::~CostmapControllerExecution
virtual ~CostmapControllerExecution()
Destructor.
Definition: costmap_controller_execution.cpp:61
mbf_costmap_nav
Definition: costmap_controller_execution.h:51
mbf_costmap_nav::CostmapControllerExecution::preRun
void preRun()
Implementation-specific setup function, called right before execution. This method overrides abstract...
Definition: costmap_controller_execution.h:94
mbf_costmap_nav::CostmapControllerExecution::costmap_ptr_
const CostmapWrapper::Ptr & costmap_ptr_
Shared pointer to thr local costmap.
Definition: costmap_controller_execution.h:134
mbf_costmap_nav::CostmapControllerExecution::safetyCheck
bool safetyCheck()
Implementation-specific safety check, called during execution to ensure it's safe to drive....
Definition: costmap_controller_execution.cpp:92
mbf_abstract_nav::AbstractControllerExecution::tf_listener_ptr
const TFPtr & tf_listener_ptr
costmap_controller.h
mbf_costmap_nav::CostmapControllerExecution::lock_costmap_
bool lock_costmap_
Whether to lock costmap before calling the controller (see issue #4 for details)
Definition: costmap_controller_execution.h:137
abstract_controller_execution.h
mbf_abstract_nav::AbstractControllerExecution


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:55