Consolidation of all the publishing logic for the DWB Local Planner. More...

#include <publisher.h>

Public Member Functions
void	initialize (ros::NodeHandle &nh)
	Load the parameters and advertise topics as needed.
void	publishCostGrid (const nav_core2::Costmap::Ptr costmap, const std::vector< TrajectoryCritic::Ptr > critics)
void	publishEvaluation (std::shared_ptr< dwb_msgs::LocalPlanEvaluation > results)
	If the pointer is not null, publish the evaluation and trajectories as needed.
void	publishGlobalPlan (const nav_2d_msgs::Path2D plan)
void	publishInputParams (const nav_grid::NavGridInfo &info, const geometry_msgs::Pose2D &start_pose, const nav_2d_msgs::Twist2D &velocity, const geometry_msgs::Pose2D &goal_pose)
void	publishLocalPlan (const std_msgs::Header &header, const dwb_msgs::Trajectory2D &traj)
void	publishLocalPlan (const nav_2d_msgs::Path2D plan)
void	publishTransformedPlan (const nav_2d_msgs::Path2D plan)
bool	shouldRecordEvaluation ()
	Does the publisher require that the LocalPlanEvaluation be saved.
Protected Member Functions
void	publishGenericPlan (const nav_2d_msgs::Path2D plan, const ros::Publisher pub, bool flag)
void	publishTrajectories (const dwb_msgs::LocalPlanEvaluation &results)
Protected Attributes
ros::Publisher	cost_grid_pc_pub_
ros::Publisher	eval_pub_
ros::Publisher	global_pub_
ros::Publisher	goal_pub_
ros::Publisher	info_pub_
ros::Publisher	local_pub_
ros::Duration	marker_lifetime_
ros::Publisher	marker_pub_
ros::Publisher	pose_pub_
bool	publish_cost_grid_pc_
bool	publish_evaluation_
bool	publish_global_plan_
bool	publish_input_params_
bool	publish_local_plan_
bool	publish_trajectories_
bool	publish_transformed_
ros::Publisher	transformed_pub_
ros::Publisher	velocity_pub_

Detailed Description

Consolidation of all the publishing logic for the DWB Local Planner.

Right now, it can publish 1) The Global Plan (as passed in using setPath) 2) The Local Plan (after it is calculated) 3) The Transformed Global Plan (since it may be different than the global) 4) The Full LocalPlanEvaluation 5) Markers representing the different trajectories evaluated 6) The CostGrid (in the form of a complex PointCloud2)

Definition at line 59 of file publisher.h.

Member Function Documentation

void dwb_local_planner::DWBPublisher::initialize ( ros::NodeHandle & nh )

Load the parameters and advertise topics as needed.

Parameters:

nh	NodeHandle to load parameters from

Definition at line 46 of file publisher.cpp.

void dwb_local_planner::DWBPublisher::publishCostGrid	(	const nav_core2::Costmap::Ptr	costmap,
		const std::vector< TrajectoryCritic::Ptr >	critics
	)

Definition at line 161 of file publisher.cpp.

void dwb_local_planner::DWBPublisher::publishEvaluation ( std::shared_ptr< dwb_msgs::LocalPlanEvaluation > results )

If the pointer is not null, publish the evaluation and trajectories as needed.

Definition at line 87 of file publisher.cpp.

void dwb_local_planner::DWBPublisher::publishGenericPlan	(	const nav_2d_msgs::Path2D	plan,
		const ros::Publisher	pub,
		bool	flag
	)		`[protected]`

Definition at line 227 of file publisher.cpp.

void dwb_local_planner::DWBPublisher::publishGlobalPlan ( const nav_2d_msgs::Path2D plan )

Definition at line 212 of file publisher.cpp.

void dwb_local_planner::DWBPublisher::publishInputParams	(	const nav_grid::NavGridInfo &	info,
		const geometry_msgs::Pose2D &	start_pose,
		const nav_2d_msgs::Twist2D &	velocity,
		const geometry_msgs::Pose2D &	goal_pose
	)