pathPlanner Class Reference

actionlib server that plans and executes paths for the robot base More...

#include <pathPlanner.h>

List of all members.

Public Member Functions
void	executePathPlanning (const youbot_overhead_localization::PlanPathGoalConstPtr &goal)
void	followPath ()
bool	getCost (youbot_overhead_localization::GetCost::Request &req, youbot_overhead_localization::GetCost::Response &res)
void	localizationCallback (const youbot_overhead_localization::Pose2d &newPose)
int	makePlanAstar ()
void	mapserverCallback (const nav_msgs::OccupancyGridConstPtr &newMap)
	pathPlanner (std::string name)
void	printCostmap ()
void	printOccupancyGrid ()
	~pathPlanner ()
Public Attributes
std::string	actionName
bool	allowUnknown
actionlib::SimpleActionServer < youbot_overhead_localization::PlanPathAction >	as
youbot_overhead_localization::PlanPathFeedback	asFeedback
youbot_overhead_localization::PlanPathResult	asResult
geometry_msgs::Twist	baseCommand
ros::Publisher	baseCommandPublisher
double	circumRadius
bool	cmInitialized
costmap_2d::Costmap2D *	cmObj
ros::ServiceClient	coordConversionClient
ros::Publisher	costPublisher
double	costScalingFactor
ros::ServiceServer	costServer
youbot_overhead_localization::Pose2d	currentPose
float	goalx
float	goaly
double	inflationRadius
double	inRadius
int	lethalCostThreshold
ros::Subscriber	localizationSubscriber
std::vector< unsigned char >	mapData
std::string	mapDebugLocation
std::string	mapFileName
unsigned int	mapHeight
double	mapOriginx
double	mapOriginy
double	mapResolution
ros::Subscriber	mapSubscriber
unsigned int	mapWidth
double	maxObstacleHeight
ros::NodeHandle	n
bool	navFnInitialized
navfn::NavFn *	navFnObj
double	obstacleRange
youbot_overhead_localization::Path	plan
ros::Publisher	pointLogPublisher
bool	positionInitialized
float	prevError
timespec	prevPointTime
float	prevTurnError
double	raytraceRange
float	totalError
float	totalTurnError
bool	trackUnknownSpace
int	unknownCostValue
bool	useSim

---

Detailed Description

actionlib server that plans and executes paths for the robot base

This class implements an actionlib server to plan paths for the robot base. The paths are planned by constructing a costmap with costmap2d and using the A* algorithm in navfn. Once a path is planned, it will be followed until the goal is reached, or until a new goal is given.

Definition at line 57 of file pathPlanner.h.

---

Constructor & Destructor Documentation

pathPlanner::pathPlanner

(

std::string

name

)

Constructor to initialize parameters, publishers, and subscribers

Parameters:

name	the name of the action server

Definition at line 14 of file pathPlanner.cpp.

pathPlanner::~pathPlanner

(

)

Destructor

Definition at line 84 of file pathPlanner.cpp.

---

Member Function Documentation

void pathPlanner::executePathPlanning

(

const youbot_overhead_localization::PlanPathGoalConstPtr &

goal

)

Callback for the action lib service for path planning and following

Parameters:

goal	the location to move the robot to

Definition at line 93 of file pathPlanner.cpp.

void pathPlanner::followPath

(

)

Follow the planned path

Definition at line 171 of file pathPlanner.cpp.

bool pathPlanner::getCost	(	youbot_overhead_localization::GetCost::Request &	req,
		youbot_overhead_localization::GetCost::Response &	res
	)

Service handler to return the costmap cost at a given point

Parameters:

req	service request
res	service response

Returns:

true on success

Definition at line 519 of file pathPlanner.cpp.

void pathPlanner::localizationCallback

(

const youbot_overhead_localization::Pose2d &

newPose

)

Callback to update the localization

Parameters:

newPose

the new position of the robot

Definition at line 294 of file pathPlanner.cpp.

int pathPlanner::makePlanAstar

(

)

Calculate a path using Astar

Returns:

-1 on failure, 1 on success

Definition at line 363 of file pathPlanner.cpp.

void pathPlanner::mapserverCallback

(

const nav_msgs::OccupancyGridConstPtr &

newMap

)

Load a new map into the costmap object and initialize the nav functions with the new map

Parameters:

newMap

the new map to be converted into a cost map

Definition at line 312 of file pathPlanner.cpp.

void pathPlanner::printCostmap

(

)

Print out the cost map to a text file for debugging

Definition at line 571 of file pathPlanner.cpp.

void pathPlanner::printOccupancyGrid

(

)

Print out the occupancy grid to a text file for debugging

Definition at line 535 of file pathPlanner.cpp.

---

Member Data Documentation

std::string pathPlanner::actionName

Definition at line 72 of file pathPlanner.h.

bool pathPlanner::allowUnknown

Definition at line 119 of file pathPlanner.h.

actionlib::SimpleActionServer<youbot_overhead_localization::PlanPathAction> pathPlanner::as

Definition at line 71 of file pathPlanner.h.

youbot_overhead_localization::PlanPathFeedback pathPlanner::asFeedback

Definition at line 73 of file pathPlanner.h.

youbot_overhead_localization::PlanPathResult pathPlanner::asResult

Definition at line 74 of file pathPlanner.h.

geometry_msgs::Twist pathPlanner::baseCommand

Definition at line 122 of file pathPlanner.h.

ros::Publisher pathPlanner::baseCommandPublisher

Definition at line 62 of file pathPlanner.h.

double pathPlanner::circumRadius

Definition at line 105 of file pathPlanner.h.

bool pathPlanner::cmInitialized

Definition at line 97 of file pathPlanner.h.

costmap_2d::Costmap2D* pathPlanner::cmObj

Definition at line 91 of file pathPlanner.h.

ros::ServiceClient pathPlanner::coordConversionClient

Definition at line 67 of file pathPlanner.h.

ros::Publisher pathPlanner::costPublisher

Definition at line 63 of file pathPlanner.h.

double pathPlanner::costScalingFactor

Definition at line 106 of file pathPlanner.h.

ros::ServiceServer pathPlanner::costServer

Definition at line 68 of file pathPlanner.h.

youbot_overhead_localization::Pose2d pathPlanner::currentPose

Definition at line 78 of file pathPlanner.h.

float pathPlanner::goalx

Definition at line 86 of file pathPlanner.h.

float pathPlanner::goaly

Definition at line 87 of file pathPlanner.h.

double pathPlanner::inflationRadius

Definition at line 107 of file pathPlanner.h.

double pathPlanner::inRadius

Definition at line 108 of file pathPlanner.h.

int pathPlanner::lethalCostThreshold

Definition at line 101 of file pathPlanner.h.

ros::Subscriber pathPlanner::localizationSubscriber

Definition at line 65 of file pathPlanner.h.

std::vector<unsigned char> pathPlanner::mapData

Definition at line 116 of file pathPlanner.h.

std::string pathPlanner::mapDebugLocation

Definition at line 83 of file pathPlanner.h.

std::string pathPlanner::mapFileName

Definition at line 82 of file pathPlanner.h.

unsigned int pathPlanner::mapHeight

Definition at line 103 of file pathPlanner.h.

double pathPlanner::mapOriginx

Definition at line 109 of file pathPlanner.h.

double pathPlanner::mapOriginy

Definition at line 110 of file pathPlanner.h.

double pathPlanner::mapResolution

Definition at line 111 of file pathPlanner.h.

ros::Subscriber pathPlanner::mapSubscriber

Definition at line 66 of file pathPlanner.h.

unsigned int pathPlanner::mapWidth

Definition at line 104 of file pathPlanner.h.

double pathPlanner::maxObstacleHeight

Definition at line 112 of file pathPlanner.h.

ros::NodeHandle pathPlanner::n

Definition at line 61 of file pathPlanner.h.

bool pathPlanner::navFnInitialized

Definition at line 98 of file pathPlanner.h.

navfn::NavFn* pathPlanner::navFnObj

Definition at line 94 of file pathPlanner.h.

double pathPlanner::obstacleRange

Definition at line 113 of file pathPlanner.h.

youbot_overhead_localization::Path pathPlanner::plan

Definition at line 88 of file pathPlanner.h.

ros::Publisher pathPlanner::pointLogPublisher

Definition at line 64 of file pathPlanner.h.

bool pathPlanner::positionInitialized

Definition at line 77 of file pathPlanner.h.

float pathPlanner::prevError

Definition at line 128 of file pathPlanner.h.

timespec pathPlanner::prevPointTime

Definition at line 125 of file pathPlanner.h.

float pathPlanner::prevTurnError

Definition at line 129 of file pathPlanner.h.

double pathPlanner::raytraceRange

Definition at line 114 of file pathPlanner.h.

float pathPlanner::totalError

Definition at line 130 of file pathPlanner.h.

float pathPlanner::totalTurnError

Definition at line 131 of file pathPlanner.h.

bool pathPlanner::trackUnknownSpace

Definition at line 115 of file pathPlanner.h.

int pathPlanner::unknownCostValue

Definition at line 102 of file pathPlanner.h.

bool pathPlanner::useSim

Definition at line 79 of file pathPlanner.h.

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

• pathPlanner.h
• pathPlanner.cpp