The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_controller_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapControllerExecution:

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List of all members.

Public Types
typedef boost::shared_ptr < costmap_2d::Costmap2DROS >	CostmapPtr
Public Member Functions
	CostmapControllerExecution (const std::string name, const mbf_costmap_core::CostmapController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, CostmapPtr &costmap_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor.
virtual	~CostmapControllerExecution ()
	Destructor.
Protected Member Functions
virtual uint32_t	computeVelocityCmd (const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
	Request plugin for a new velocity command. We override this method so we can lock the local costmap before calling the planner.
Private Member Functions
mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)
Private Attributes
std::string	controller_name_
	name of the controller plugin assigned by the class loader
CostmapPtr &	costmap_ptr_
	costmap for 2d navigation planning
bool	lock_costmap_
	Whether to lock costmap before calling the controller (see issue #4 for details)

Detailed Description

The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 58 of file costmap_controller_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<costmap_2d::Costmap2DROS> mbf_costmap_nav::CostmapControllerExecution::CostmapPtr

Definition at line 62 of file costmap_controller_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapControllerExecution::CostmapControllerExecution	(	const std::string	name,
		const mbf_costmap_core::CostmapController::Ptr &	controller_ptr,
		const ros::Publisher &	vel_pub,
		const ros::Publisher &	goal_pub,
		const TFPtr &	tf_listener_ptr,
		CostmapPtr &	costmap_ptr,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters:

condition	Thread sleep condition variable, to wake up connected threads
tf_listener_ptr	Shared pointer to a common tf listener
costmap_ptr	Shared pointer to the costmap.

Definition at line 45 of file costmap_controller_execution.cpp.

mbf_costmap_nav::CostmapControllerExecution::~CostmapControllerExecution ( ) [virtual]

Destructor.

Definition at line 63 of file costmap_controller_execution.cpp.

Member Function Documentation

uint32_t mbf_costmap_nav::CostmapControllerExecution::computeVelocityCmd	(	const geometry_msgs::PoseStamped &	robot_pose,
		const geometry_msgs::TwistStamped &	robot_velocity,
		geometry_msgs::TwistStamped &	vel_cmd,
		std::string &	message
	)		`[protected, virtual]`

Request plugin for a new velocity command. We override this method so we can lock the local costmap before calling the planner.

Parameters:

pose	the current pose of the robot.
velocity	the current velocity of the robot.
cmd_vel	Will be filled with the velocity command to be passed to the robot base.
message	Optional more detailed outcome as a string.