A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. More...

#include <move_base.h>

Public Member Functions
bool	executeCycle (geometry_msgs::PoseStamped &goal)
	Performs a control cycle. More...

	MoveBase (tf2_ros::Buffer &tf)
	Constructor for the actions. More...

virtual	~MoveBase ()
	Destructor - Cleans up. More...

Private Member Functions
bool	clearCostmapsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	A service call that clears the costmaps of obstacles. More...

void	clearCostmapWindows (double size_x, double size_y)
	Clears obstacles within a window around the robot. More...

double	distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)

void	executeCb (const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal)

bool	getRobotPose (geometry_msgs::PoseStamped &global_pose, costmap_2d::Costmap2DROS *costmap)

void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)

geometry_msgs::PoseStamped	goalToGlobalFrame (const geometry_msgs::PoseStamped &goal_pose_msg)

bool	isQuaternionValid (const geometry_msgs::Quaternion &q)

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...

bool	makePlan (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Make a new global plan. More...

bool	planService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
	A service call that can be made when the action is inactive that will return a plan. More...

void	planThread ()

void	publishZeroVelocity ()
	Publishes a velocity command of zero to the base. More...

void	reconfigureCB (move_base::MoveBaseConfig &config, uint32_t level)

void	resetState ()
	Reset the state of the move_base action and send a zero velocity command to the base. More...

void	wakePlanner (const ros::TimerEvent &event)
	This is used to wake the planner at periodic intervals. More...

Private Attributes
ros::Publisher	action_goal_pub_

MoveBaseActionServer *	as_

pluginlib::ClassLoader< nav_core::BaseGlobalPlanner >	bgp_loader_

pluginlib::ClassLoader< nav_core::BaseLocalPlanner >	blp_loader_

bool	c_freq_change_

double	circumscribed_radius_

ros::ServiceServer	clear_costmaps_srv_

double	clearing_radius_

bool	clearing_rotation_allowed_

boost::recursive_mutex	configuration_mutex_

double	conservative_reset_dist_

costmap_2d::Costmap2DROS *	controller_costmap_ros_

double	controller_frequency_

double	controller_patience_

std::vector< geometry_msgs::PoseStamped > *	controller_plan_

ros::Publisher	current_goal_pub_

move_base::MoveBaseConfig	default_config_

dynamic_reconfigure::Server< move_base::MoveBaseConfig > *	dsrv_

std::string	global_frame_

geometry_msgs::PoseStamped	global_pose_

ros::Subscriber	goal_sub_

double	inscribed_radius_

move_base::MoveBaseConfig	last_config_

ros::Time	last_oscillation_reset_

ros::Time	last_valid_control_

ros::Time	last_valid_plan_

std::vector< geometry_msgs::PoseStamped > *	latest_plan_

bool	make_plan_add_unreachable_goal_

bool	make_plan_clear_costmap_

ros::ServiceServer	make_plan_srv_

int32_t	max_planning_retries_

bool	new_global_plan_

double	oscillation_distance_

geometry_msgs::PoseStamped	oscillation_pose_

double	oscillation_timeout_

bool	p_freq_change_

boost::shared_ptr< nav_core::BaseGlobalPlanner >	planner_

boost::condition_variable_any	planner_cond_

costmap_2d::Costmap2DROS *	planner_costmap_ros_

double	planner_frequency_

geometry_msgs::PoseStamped	planner_goal_

boost::recursive_mutex	planner_mutex_

double	planner_patience_

std::vector< geometry_msgs::PoseStamped > *	planner_plan_

boost::thread *	planner_thread_

uint32_t	planning_retries_

bool	recovery_behavior_enabled_

std::vector< std::string >	recovery_behavior_names_

std::vector< boost::shared_ptr< nav_core::RecoveryBehavior > >	recovery_behaviors_

unsigned int	recovery_index_

pluginlib::ClassLoader< nav_core::RecoveryBehavior >	recovery_loader_

ros::Publisher	recovery_status_pub_

RecoveryTrigger	recovery_trigger_

std::string	robot_base_frame_

bool	runPlanner_

bool	setup_

bool	shutdown_costmaps_

MoveBaseState	state_

boost::shared_ptr< nav_core::BaseLocalPlanner >	tc_

tf2_ros::Buffer &	tf_

ros::Publisher	vel_pub_

Detailed Description

A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location.

Definition at line 118 of file move_base.h.

Constructor & Destructor Documentation

◆ MoveBase()

move_base::MoveBase::MoveBase ( tf2_ros::Buffer & tf )

Constructor for the actions.

Parameters

name	The name of the action
tf	A reference to a TransformListener

Definition at line 87 of file move_base.cpp.

◆ ~MoveBase()

move_base::MoveBase::~MoveBase ( )

virtual

Destructor - Cleans up.

Definition at line 483 of file move_base.cpp.

Member Function Documentation

◆ clearCostmapsService()

bool move_base::MoveBase::clearCostmapsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

private

A service call that clears the costmaps of obstacles.

Parameters

req	The service request
resp	The service response

Returns: True if the service call succeeds, false otherwise

Definition at line 375 of file move_base.cpp.

◆ clearCostmapWindows()

void move_base::MoveBase::clearCostmapWindows	(	double	size_x,
		double	size_y
	)

private

Clears obstacles within a window around the robot.

Parameters

size_x	The x size of the window
size_y	The y size of the window

Definition at line 320 of file move_base.cpp.

◆ distance()

double move_base::MoveBase::distance	(	const geometry_msgs::PoseStamped &	p1,
		const geometry_msgs::PoseStamped &	p2
	)

private

Definition at line 833 of file move_base.cpp.

◆ executeCb()

void move_base::MoveBase::executeCb ( const move_base_msgs::MoveBaseGoalConstPtr & move_base_goal )

private

Definition at line 687 of file move_base.cpp.

◆ executeCycle()

bool move_base::MoveBase::executeCycle ( geometry_msgs::PoseStamped & goal )

Performs a control cycle.

Parameters

goal	A reference to the goal to pursue

Returns: True if processing of the goal is done, false otherwise

Definition at line 838 of file move_base.cpp.

◆ getRobotPose()

bool move_base::MoveBase::getRobotPose	(	geometry_msgs::PoseStamped &	global_pose,
		costmap_2d::Costmap2DROS *	costmap
	)

private

Definition at line 1202 of file move_base.cpp.

◆ goalCB()

void move_base::MoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr & goal )

private

Definition at line 311 of file move_base.cpp.

◆ goalToGlobalFrame()

geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame ( const geometry_msgs::PoseStamped & goal_pose_msg )

private

Definition at line 578 of file move_base.cpp.

◆ isQuaternionValid()

bool move_base::MoveBase::isQuaternionValid ( const geometry_msgs::Quaternion & q )

private

Definition at line 548 of file move_base.cpp.

◆ loadDefaultRecoveryBehaviors()

void move_base::MoveBase::loadDefaultRecoveryBehaviors ( )

private

Loads the default recovery behaviors for the navigation stack.

Definition at line 1141 of file move_base.cpp.

◆ loadRecoveryBehaviors()

bool move_base::MoveBase::loadRecoveryBehaviors ( ros::NodeHandle node )

private

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

Parameters

node	The ros::NodeHandle to be used for loading parameters

Returns: True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 1055 of file move_base.cpp.

◆ makePlan()

bool move_base::MoveBase::makePlan	(	const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

private

Make a new global plan.

Parameters

goal	The goal to plan to
plan	Will be filled in with the plan made by the planner

Returns: True if planning succeeds, false otherwise

Definition at line 510 of file move_base.cpp.

◆ planService()

bool move_base::MoveBase::planService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)

private

A service call that can be made when the action is inactive that will return a plan.

Parameters

req	The goal request
resp	The plan request

Returns: True if planning succeeded, false otherwise

Definition at line 386 of file move_base.cpp.

◆ planThread()

void move_base::MoveBase::planThread ( )

private

Definition at line 605 of file move_base.cpp.

◆ publishZeroVelocity()

void move_base::MoveBase::publishZeroVelocity ( )

private

Publishes a velocity command of zero to the base.

Definition at line 540 of file move_base.cpp.

◆ reconfigureCB()

void move_base::MoveBase::reconfigureCB	(	move_base::MoveBaseConfig &	config,
		uint32_t	level
	)

private

Definition at line 218 of file move_base.cpp.

◆ resetState()

void move_base::MoveBase::resetState ( )

private

Reset the state of the move_base action and send a zero velocity command to the base.

Definition at line 1182 of file move_base.cpp.

◆ wakePlanner()

void move_base::MoveBase::wakePlanner ( const ros::TimerEvent & event )

private

This is used to wake the planner at periodic intervals.

Definition at line 599 of file move_base.cpp.

Member Data Documentation

◆ action_goal_pub_

ros::Publisher move_base::MoveBase::action_goal_pub_

private

Definition at line 232 of file move_base.h.

◆ as_

MoveBaseActionServer* move_base::MoveBase::as_

private

Definition at line 214 of file move_base.h.

◆ bgp_loader_

pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> move_base::MoveBase::bgp_loader_

private

Definition at line 244 of file move_base.h.

◆ blp_loader_

pluginlib::ClassLoader<nav_core::BaseLocalPlanner> move_base::MoveBase::blp_loader_

private

Definition at line 245 of file move_base.h.

◆ c_freq_change_

bool move_base::MoveBase::c_freq_change_

private

Definition at line 268 of file move_base.h.

◆ circumscribed_radius_

double move_base::MoveBase::circumscribed_radius_

private

Definition at line 227 of file move_base.h.

◆ clear_costmaps_srv_

ros::ServiceServer move_base::MoveBase::clear_costmaps_srv_

private

Definition at line 234 of file move_base.h.

◆ clearing_radius_

double move_base::MoveBase::clearing_radius_

private

Definition at line 231 of file move_base.h.

◆ clearing_rotation_allowed_

bool move_base::MoveBase::clearing_rotation_allowed_

private

Definition at line 235 of file move_base.h.

◆ configuration_mutex_

boost::recursive_mutex move_base::MoveBase::configuration_mutex_

private

Definition at line 261 of file move_base.h.

◆ conservative_reset_dist_

double move_base::MoveBase::conservative_reset_dist_

private

Definition at line 231 of file move_base.h.

◆ controller_costmap_ros_

costmap_2d::Costmap2DROS * move_base::MoveBase::controller_costmap_ros_

private

Definition at line 217 of file move_base.h.

◆ controller_frequency_

double move_base::MoveBase::controller_frequency_

private

Definition at line 227 of file move_base.h.

◆ controller_patience_

double move_base::MoveBase::controller_patience_

private

Definition at line 228 of file move_base.h.

◆ controller_plan_

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::controller_plan_

private

Definition at line 251 of file move_base.h.

◆ current_goal_pub_

ros::Publisher move_base::MoveBase::current_goal_pub_

private

Definition at line 232 of file move_base.h.

◆ default_config_

move_base::MoveBaseConfig move_base::MoveBase::default_config_

private

Definition at line 267 of file move_base.h.

◆ dsrv_

dynamic_reconfigure::Server<move_base::MoveBaseConfig>* move_base::MoveBase::dsrv_

private

Definition at line 262 of file move_base.h.

◆ global_frame_

std::string move_base::MoveBase::global_frame_

private

Definition at line 220 of file move_base.h.

◆ global_pose_

geometry_msgs::PoseStamped move_base::MoveBase::global_pose_

private

Definition at line 226 of file move_base.h.

◆ goal_sub_

ros::Subscriber move_base::MoveBase::goal_sub_

private

Definition at line 233 of file move_base.h.

◆ inscribed_radius_

double move_base::MoveBase::inscribed_radius_

private

Definition at line 227 of file move_base.h.

◆ last_config_

move_base::MoveBaseConfig move_base::MoveBase::last_config_

private

Definition at line 266 of file move_base.h.

◆ last_oscillation_reset_

ros::Time move_base::MoveBase::last_oscillation_reset_

private

Definition at line 242 of file move_base.h.

◆ last_valid_control_

ros::Time move_base::MoveBase::last_valid_control_

private

Definition at line 242 of file move_base.h.

◆ last_valid_plan_

ros::Time move_base::MoveBase::last_valid_plan_

private

Definition at line 242 of file move_base.h.

◆ latest_plan_

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::latest_plan_

private

Definition at line 250 of file move_base.h.

◆ make_plan_add_unreachable_goal_

bool move_base::MoveBase::make_plan_add_unreachable_goal_

private

Definition at line 236 of file move_base.h.

◆ make_plan_clear_costmap_

bool move_base::MoveBase::make_plan_clear_costmap_

private

Definition at line 236 of file move_base.h.

◆ make_plan_srv_

ros::ServiceServer move_base::MoveBase::make_plan_srv_

private

Definition at line 234 of file move_base.h.

◆ max_planning_retries_

int32_t move_base::MoveBase::max_planning_retries_

private

Definition at line 229 of file move_base.h.

◆ new_global_plan_

bool move_base::MoveBase::new_global_plan_

private

Definition at line 269 of file move_base.h.

◆ oscillation_distance_

double move_base::MoveBase::oscillation_distance_

private

Definition at line 237 of file move_base.h.

◆ oscillation_pose_

geometry_msgs::PoseStamped move_base::MoveBase::oscillation_pose_

private

Definition at line 243 of file move_base.h.

◆ oscillation_timeout_

double move_base::MoveBase::oscillation_timeout_

private

Definition at line 237 of file move_base.h.

◆ p_freq_change_

bool move_base::MoveBase::p_freq_change_

private

Definition at line 268 of file move_base.h.

◆ planner_

boost::shared_ptr<nav_core::BaseGlobalPlanner> move_base::MoveBase::planner_

private

Definition at line 219 of file move_base.h.

◆ planner_cond_

boost::condition_variable_any move_base::MoveBase::planner_cond_

private

Definition at line 256 of file move_base.h.

◆ planner_costmap_ros_

costmap_2d::Costmap2DROS* move_base::MoveBase::planner_costmap_ros_

private

Definition at line 217 of file move_base.h.

◆ planner_frequency_

double move_base::MoveBase::planner_frequency_

private

Definition at line 227 of file move_base.h.

◆ planner_goal_

geometry_msgs::PoseStamped move_base::MoveBase::planner_goal_

private

Definition at line 257 of file move_base.h.

◆ planner_mutex_

boost::recursive_mutex move_base::MoveBase::planner_mutex_

private

Definition at line 255 of file move_base.h.

◆ planner_patience_

double move_base::MoveBase::planner_patience_

private

Definition at line 228 of file move_base.h.

◆ planner_plan_

std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::planner_plan_

private

Definition at line 249 of file move_base.h.

◆ planner_thread_

boost::thread* move_base::MoveBase::planner_thread_

private

Definition at line 258 of file move_base.h.

◆ planning_retries_

uint32_t move_base::MoveBase::planning_retries_

private

Definition at line 230 of file move_base.h.

◆ recovery_behavior_enabled_

bool move_base::MoveBase::recovery_behavior_enabled_

private

Definition at line 235 of file move_base.h.

◆ recovery_behavior_names_

std::vector<std::string> move_base::MoveBase::recovery_behavior_names_

private

Definition at line 223 of file move_base.h.

◆ recovery_behaviors_

std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > move_base::MoveBase::recovery_behaviors_

private

Definition at line 222 of file move_base.h.

◆ recovery_index_

unsigned int move_base::MoveBase::recovery_index_

private

Definition at line 224 of file move_base.h.

◆ recovery_loader_

pluginlib::ClassLoader<nav_core::RecoveryBehavior> move_base::MoveBase::recovery_loader_

private

Definition at line 246 of file move_base.h.

◆ recovery_status_pub_

ros::Publisher move_base::MoveBase::recovery_status_pub_

private

Definition at line 232 of file move_base.h.

◆ recovery_trigger_

RecoveryTrigger move_base::MoveBase::recovery_trigger_

private

Definition at line 240 of file move_base.h.

◆ robot_base_frame_

std::string move_base::MoveBase::robot_base_frame_

private

Definition at line 220 of file move_base.h.

◆ runPlanner_

bool move_base::MoveBase::runPlanner_

private

Definition at line 254 of file move_base.h.

◆ setup_

bool move_base::MoveBase::setup_

private

Definition at line 268 of file move_base.h.

◆ shutdown_costmaps_

bool move_base::MoveBase::shutdown_costmaps_

private

Definition at line 235 of file move_base.h.

◆ state_

MoveBaseState move_base::MoveBase::state_

private

Definition at line 239 of file move_base.h.

◆ tc_

boost::shared_ptr<nav_core::BaseLocalPlanner> move_base::MoveBase::tc_

private

Definition at line 216 of file move_base.h.

◆ tf_

tf2_ros::Buffer& move_base::MoveBase::tf_

private

Definition at line 212 of file move_base.h.

◆ vel_pub_

ros::Publisher move_base::MoveBase::vel_pub_

private

Definition at line 232 of file move_base.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MoveBase()

◆ ~MoveBase()

Member Function Documentation

◆ clearCostmapsService()

◆ clearCostmapWindows()

◆ distance()

◆ executeCb()

◆ executeCycle()

◆ getRobotPose()

◆ goalCB()

◆ goalToGlobalFrame()

◆ isQuaternionValid()

◆ loadDefaultRecoveryBehaviors()

◆ loadRecoveryBehaviors()

◆ makePlan()

◆ planService()

◆ planThread()

◆ publishZeroVelocity()

◆ reconfigureCB()

◆ resetState()

◆ wakePlanner()

Member Data Documentation

◆ action_goal_pub_

◆ as_

◆ bgp_loader_

◆ blp_loader_

◆ c_freq_change_

◆ circumscribed_radius_

◆ clear_costmaps_srv_

◆ clearing_radius_

◆ clearing_rotation_allowed_

◆ configuration_mutex_

◆ conservative_reset_dist_

◆ controller_costmap_ros_

◆ controller_frequency_

◆ controller_patience_

◆ controller_plan_

◆ current_goal_pub_

◆ default_config_

◆ dsrv_

◆ global_frame_

◆ global_pose_

◆ goal_sub_

◆ inscribed_radius_

◆ last_config_

◆ last_oscillation_reset_

◆ last_valid_control_

◆ last_valid_plan_

◆ latest_plan_

◆ make_plan_add_unreachable_goal_

◆ make_plan_clear_costmap_

◆ make_plan_srv_

◆ max_planning_retries_

◆ new_global_plan_

◆ oscillation_distance_

◆ oscillation_pose_

◆ oscillation_timeout_

◆ p_freq_change_

◆ planner_

◆ planner_cond_

◆ planner_costmap_ros_

◆ planner_frequency_

◆ planner_goal_

◆ planner_mutex_

◆ planner_patience_

◆ planner_plan_

◆ planner_thread_

◆ planning_retries_

◆ recovery_behavior_enabled_

◆ recovery_behavior_names_

◆ recovery_behaviors_

◆ recovery_index_

◆ recovery_loader_

◆ recovery_status_pub_

◆ recovery_trigger_