The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base. More...

#include <costmap_navigation_server.h>

Inheritance diagram for mbf_costmap_nav::CostmapNavigationServer:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < costmap_2d::Costmap2DROS >	CostmapPtr
typedef boost::shared_ptr < CostmapNavigationServer >	Ptr
Public Member Functions
	CostmapNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor.
virtual void	stop ()
virtual	~CostmapNavigationServer ()
	Destructor.
Private Member Functions
bool	callServiceCheckPathCost (mbf_msgs::CheckPath::Request &request, mbf_msgs::CheckPath::Response &response)
	Callback method for the check_path_cost service.
bool	callServiceCheckPointCost (mbf_msgs::CheckPoint::Request &request, mbf_msgs::CheckPoint::Response &response)
	Callback method for the check_point_cost service.
bool	callServiceCheckPoseCost (mbf_msgs::CheckPose::Request &request, mbf_msgs::CheckPose::Response &response)
	Callback method for the check_pose_cost service.
bool	callServiceClearCostmaps (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Callback method for the make_plan service.
void	checkActivateCostmaps ()
	Check whether the costmaps should be activated.
void	checkDeactivateCostmaps ()
	Check whether the costmaps should and could be deactivated.
void	deactivateCostmaps (const ros::TimerEvent &event)
	Timer-triggered deactivation of both costmaps.
virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the costmap.
virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Initializes the controller plugin with its name and pointer to the costmap.
virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps.
virtual mbf_abstract_core::AbstractController::Ptr	loadControllerPlugin (const std::string &controller_type)
	Loads the plugin associated with the given controller type parameter.
virtual mbf_abstract_core::AbstractPlanner::Ptr	loadPlannerPlugin (const std::string &planner_type)
	Loads the plugin associated with the given planner_type parameter.
virtual mbf_abstract_core::AbstractRecovery::Ptr	loadRecoveryPlugin (const std::string &recovery_type)
	Loads a Recovery plugin associated with given recovery type parameter.
virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)
	shared pointer to a new ControllerExecution
virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)
	shared pointer to a new PlannerExecution
virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)
	shared pointer to a new RecoveryExecution
void	reconfigure (mbf_costmap_nav::MoveBaseFlexConfig &config, uint32_t level)
	Reconfiguration method called by dynamic reconfigure.
Private Attributes
boost::mutex	check_costmaps_mutex_
	Start/stop costmaps mutex; concurrent calls to start can lead to segfault.
ros::ServiceServer	check_path_cost_srv_
	Service Server for the check_path_cost service.
ros::ServiceServer	check_point_cost_srv_
	Service Server for the check_point_cost service.
ros::ServiceServer	check_pose_cost_srv_
	Service Server for the check_pose_cost service.
ros::ServiceServer	clear_costmaps_srv_
	Service Server for the clear_costmap service.
pluginlib::ClassLoader < mbf_costmap_core::CostmapController >	controller_plugin_loader_
uint16_t	costmaps_users_
	keep track of plugins using costmaps
mbf_costmap_nav::MoveBaseFlexConfig	default_config_
	the default parameter configuration save
DynamicReconfigureServerCostmapNav	dsrv_costmap_
	Dynamic reconfigure server for the mbf_costmap2d_specific part.
CostmapPtr	global_costmap_ptr_
	Shared pointer to the common global costmap.
mbf_costmap_nav::MoveBaseFlexConfig	last_config_
	last configuration save
CostmapPtr	local_costmap_ptr_
	Shared pointer to the common local costmap.
pluginlib::ClassLoader < nav_core::BaseLocalPlanner >	nav_core_controller_plugin_loader_
pluginlib::ClassLoader < nav_core::BaseGlobalPlanner >	nav_core_planner_plugin_loader_
pluginlib::ClassLoader < nav_core::RecoveryBehavior >	nav_core_recovery_plugin_loader_
pluginlib::ClassLoader < mbf_costmap_core::CostmapPlanner >	planner_plugin_loader_
pluginlib::ClassLoader < mbf_costmap_core::CostmapRecovery >	recovery_plugin_loader_
bool	setup_reconfigure_
	true, if the dynamic reconfigure has been setup
bool	shutdown_costmaps_
	Stop updating costmaps when not planning or controlling, if true.
ros::Duration	shutdown_costmaps_delay_
	costmpas delayed shutdown delay
ros::Timer	shutdown_costmaps_timer_
	costmpas delayed shutdown timer

Detailed Description

The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base.

Definition at line 78 of file costmap_navigation_server.h.

Member Typedef Documentation

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

Definition at line 82 of file costmap_navigation_server.h.

typedef boost::shared_ptr<CostmapNavigationServer> mbf_costmap_nav::CostmapNavigationServer::Ptr

Definition at line 84 of file costmap_navigation_server.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapNavigationServer::CostmapNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor.

Parameters:

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 58 of file costmap_navigation_server.cpp.

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

Destructor.

Definition at line 333 of file costmap_navigation_server.cpp.

Member Function Documentation

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPathCost	(	mbf_msgs::CheckPath::Request &	request,
		mbf_msgs::CheckPath::Response &	response
	)		`[private]`

Callback method for the check_path_cost service.

Parameters:

request	Request object, see the mbf_msgs/CheckPath service definition file.
response	Response object, see the mbf_msgs/CheckPath service definition file.

Returns:: true, if the service completed successfully, false otherwise

Definition at line 589 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPointCost	(	mbf_msgs::CheckPoint::Request &	request,
		mbf_msgs::CheckPoint::Response &	response
	)		`[private]`

Callback method for the check_point_cost service.

Parameters:

request	Request object, see the mbf_msgs/CheckPoint service definition file.
response	Response object, see the mbf_msgs/CheckPoint service definition file.

Returns:: true, if the service completed successfully, false otherwise

Definition at line 387 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::callServiceCheckPoseCost	(	mbf_msgs::CheckPose::Request &	request,
		mbf_msgs::CheckPose::Response &	response
	)		`[private]`

Callback method for the check_pose_cost service.

Parameters:

request	Request object, see the mbf_msgs/CheckPose service definition file.
response	Response object, see the mbf_msgs/CheckPose service definition file.

Returns:: true, if the service completed successfully, false otherwise

Definition at line 465 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::callServiceClearCostmaps	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[private]`

Callback method for the make_plan service.

Parameters:

request	Empty request object.
response	Empty response object.

Returns:: true, if the service completed successfully, false otherwise

Definition at line 732 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::checkActivateCostmaps ( ) [private]

Check whether the costmaps should be activated.

Definition at line 746 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::checkDeactivateCostmaps ( ) [private]

Check whether the costmaps should and could be deactivated.

Definition at line 763 of file costmap_navigation_server.cpp.

void mbf_costmap_nav::CostmapNavigationServer::deactivateCostmaps ( const ros::TimerEvent & event ) [private]

Timer-triggered deactivation of both costmaps.

Definition at line 776 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)		`[private, virtual]`

Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the costmap.

Parameters:

name	The name of the controller
controller_ptr	pointer to the controller object which corresponds to the name param

Returns:: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 230 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)		`[private, virtual]`

Initializes the controller plugin with its name and pointer to the costmap.

Parameters:

name	The name of the planner
planner_ptr	pointer to the planner object which corresponds to the name param

Returns:: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 178 of file costmap_navigation_server.cpp.

bool mbf_costmap_nav::CostmapNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)		`[private, virtual]`

Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps.

Parameters:

name	The name of the recovery behavior
behavior_ptr	pointer to the recovery behavior object which corresponds to the name param

Returns:: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 292 of file costmap_navigation_server.cpp.

mbf_abstract_core::AbstractController::Ptr mbf_costmap_nav::CostmapNavigationServer::loadControllerPlugin ( const std::string & controller_type ) [private, virtual]

Loads the plugin associated with the given controller type parameter.

Parameters:

controller_type The type of the controller plugin

Returns:: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 199 of file costmap_navigation_server.cpp.

mbf_abstract_core::AbstractPlanner::Ptr mbf_costmap_nav::CostmapNavigationServer::loadPlannerPlugin ( const std::string & planner_type ) [private, virtual]

Loads the plugin associated with the given planner_type parameter.

Parameters:

planner_type The type of the planner plugin to load.

Returns:: true, if the local planner plugin was successfully loaded.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 146 of file costmap_navigation_server.cpp.

mbf_abstract_core::AbstractRecovery::Ptr mbf_costmap_nav::CostmapNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type ) [private, virtual]

Loads a Recovery plugin associated with given recovery type parameter.

Parameters:

recovery_name The name of the Recovery plugin

Returns:: A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 255 of file costmap_navigation_server.cpp.

mbf_abstract_nav::AbstractControllerExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newControllerExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractController::Ptr	plugin_ptr
	)		`[private, virtual]`

shared pointer to a new ControllerExecution

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 115 of file costmap_navigation_server.cpp.

mbf_abstract_nav::AbstractPlannerExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newPlannerExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractPlanner::Ptr	plugin_ptr
	)		`[private, virtual]`

shared pointer to a new PlannerExecution

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 102 of file costmap_navigation_server.cpp.

mbf_abstract_nav::AbstractRecoveryExecution::Ptr mbf_costmap_nav::CostmapNavigationServer::newRecoveryExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractRecovery::Ptr	plugin_ptr
	)		`[private, virtual]`