eband_local_planner_ros.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2010, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Christian Connette
00036 *********************************************************************/
00037 
00038 #ifndef EBAND_LOCAL_PLANNER_ROS_H_
00039 #define EBAND_LOCAL_PLANNER_ROS_H_
00040 
00041 #include <ros/ros.h>
00042 
00043 // abstract class from which our plugin inherits
00044 #include <nav_core/base_local_planner.h>
00045 
00046 // classes wich are parts of this pkg
00047 #include <eband_local_planner/eband_local_planner.h>
00048 #include <eband_local_planner/conversions_and_types.h>
00049 #include <eband_local_planner/eband_visualization.h>
00050 #include <eband_local_planner/eband_trajectory_controller.h>
00051 
00052 // local planner specific classes which provide some macros
00053 #include <base_local_planner/goal_functions.h>
00054 
00055 // msgs
00056 #include <nav_msgs/Path.h>
00057 #include <nav_msgs/Odometry.h>
00058 #include <geometry_msgs/PoseStamped.h>
00059 #include <visualization_msgs/MarkerArray.h>
00060 #include <visualization_msgs/Marker.h>
00061 
00062 // transforms
00063 #include <angles/angles.h>
00064 #include <tf/tf.h>
00065 #include <tf/transform_listener.h>
00066 
00067 // costmap & geometry
00068 #include <costmap_2d/costmap_2d_ros.h>
00069 
00070 // boost classes
00071 #include <boost/bind.hpp>
00072 #include <boost/shared_ptr.hpp>
00073 
00074 
00075 namespace eband_local_planner{
00076 
00081 class EBandPlannerROS : public nav_core::BaseLocalPlanner{
00082 
00083         public:
00087                 EBandPlannerROS();
00088 
00095                 EBandPlannerROS(std::string name, tf::TransformListener* tf,
00096                                                         costmap_2d::Costmap2DROS* costmap_ros);
00097 
00101                 ~EBandPlannerROS();
00102 
00109                 void initialize(std::string name, tf::TransformListener* tf,
00110                                                         costmap_2d::Costmap2DROS* costmap_ros);
00111 
00117                 bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
00118 
00124                 bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);
00125 
00130                 bool isGoalReached();
00131 
00132         private:
00133 
00134                 // pointer to external objects (do NOT delete object)
00135                 costmap_2d::Costmap2DROS* costmap_ros_; 
00136                 tf::TransformListener* tf_; 
00137 
00138                 // parameters
00139                 double yaw_goal_tolerance_, xy_goal_tolerance_; 
00140                 double rot_stopped_vel_, trans_stopped_vel_; 
00141 
00142                 // Topics & Services
00143                 ros::Publisher g_plan_pub_; 
00144                 ros::Publisher l_plan_pub_; 
00145                 ros::Subscriber odom_sub_; 
00146 
00147                 // data
00148                 nav_msgs::Odometry base_odom_;
00149                 std::vector<geometry_msgs::PoseStamped> global_plan_; // plan as handed over from move_base or global planner
00150                 std::vector<geometry_msgs::PoseStamped> transformed_plan_; // plan transformed into the map frame we are working in
00151                 std::vector<int> plan_start_end_counter_; // stores which number start and end frame of the transformed plan have inside the global plan
00152 
00153                 // pointer to locally created objects (delete - except for smart-ptrs:)
00154                 boost::shared_ptr<EBandPlanner> eband_;
00155                 boost::shared_ptr<EBandVisualization> eband_visual_;
00156                 boost::shared_ptr<EBandTrajectoryCtrl> eband_trj_ctrl_;
00157 
00158                 // flags
00159                 bool initialized_;
00160                 boost::mutex odom_mutex_; // mutex to lock odometry-callback while data is read from topic
00161 
00162 
00163                 // methods
00164 
00169                 void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
00170 
00171 };
00172 };
00173 #endif
00174 
00175 


eband_local_planner
Author(s): Christian Connette, Bhaskara Marthi
autogenerated on Fri Jan 3 2014 11:34:16