ROS Wrapper for the BipedRobinPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base. More...

#include <bipedRobin_planner_ros.h>

Inheritance diagram for bipedRobin_local_planner::BipedRobinPlannerROS:

[legend]

List of all members.

Public Member Functions
	BipedRobinPlannerROS ()
	Constructor for BipedRobinPlannerROS wrapper.
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.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
bool	isGoalReached ()
	Check if the goal pose has been achieved.
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following.
void	stepsLeftCallback (const std_msgs::UInt8 stepsLeftInBuffer)
Private Member Functions
void	getFootstepFromState (const footstep_planner::State &from, const footstep_planner::State &to, bipedRobin_msgs::StepTarget3D *footstep)
void	goalPoseCallback (const geometry_msgs::PoseStampedConstPtr &goal_pose)
	Callback for receiving odometry data.
bool	initializeNavigator ()
void	mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_map)
	Callback to set the map.
void	planningThread (void)
double	sign (double x)
void	updateMapToPlanner ()
Private Attributes
costmap_2d::Costmap2DROS *	costmap_ros_
ros::Publisher	g_plan_pub_
std::vector < geometry_msgs::PoseStamped >	global_plan_
bool	initialized_
ros::ServiceClient	ivFootstepIncSrv
boost::mutex	ivFootstepPlanningMutex
boost::thread *	ivFootstepPlanningThread
ros::ServiceServer	ivFootstepPlanService
std::string	ivIdFootLeft
std::string	ivIdFootRight
std::string	ivIdMapFrame
footstep_planner::State	ivLeftLegCurrent
footstep_planner::State	ivLeftLegStart
double	ivLocalGoalTheta
double	ivLocalGoalX
double	ivLocalGoalY
ros::Publisher	ivMapPub
footstep_planner::FootstepPlanner	ivPlanner
double	ivPlanningDistance
bool	ivPlanSteps
footstep_planner::State	ivRightLegCurrent
footstep_planner::State	ivRightLegStart
int	ivSendStep
std::list < footstep_planner::State >	ivStepsToStart
ros::Publisher	l_plan_pub_
boost::mutex	localPlan_mutex_
double	max_vel_th_
double	min_rot_vel_
double	min_vel_th_
boost::mutex	planner_mutex_
bool	prune_plan_
double	rot_stopped_vel_
ros::Subscriber	stepsLeftInBufferSub
tf::TransformListener *	tf_
double	trans_stopped_vel_
double	xy_goal_tolerance_
double	yaw_goal_tolerance_

Detailed Description

ROS Wrapper for the BipedRobinPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base.

Definition at line 17 of file bipedRobin_planner_ros.h.

Constructor & Destructor Documentation

bipedRobin_local_planner::BipedRobinPlannerROS::BipedRobinPlannerROS ( ) [inline]

Constructor for BipedRobinPlannerROS wrapper.

Definition at line 22 of file bipedRobin_planner_ros.h.

Member Function Documentation

bool bipedRobin_local_planner::BipedRobinPlannerROS::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 trajectory was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 49 of file bipedRobin_planner_ros.cpp.

void bipedRobin_local_planner::BipedRobinPlannerROS::getFootstepFromState	(	const footstep_planner::State &	from,
		const footstep_planner::State &	to,
		bipedRobin_msgs::StepTarget3D *	footstep
	)		`[private]`

Definition at line 193 of file bipedRobin_planner_ros.cpp.

void bipedRobin_local_planner::BipedRobinPlannerROS::goalPoseCallback ( const geometry_msgs::PoseStampedConstPtr & goal_pose ) [private]

Callback for receiving odometry data.

Parameters:

msg	An Odometry message Callback to set a simulated robot at a certain pose.

Subscribed to 'goal'.

void bipedRobin_local_planner::BipedRobinPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Constructs the ros wrapper.

Parameters:

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Implements nav_core::BaseLocalPlanner.

Definition at line 14 of file bipedRobin_planner_ros.cpp.

bool bipedRobin_local_planner::BipedRobinPlannerROS::initializeNavigator ( ) [private]

Definition at line 266 of file bipedRobin_planner_ros.cpp.

bool bipedRobin_local_planner::BipedRobinPlannerROS::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved.