00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, 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: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef SBPL_RECOVERY_SBPL_RECOVERY_H_ 00038 #define SBPL_RECOVERY_SBPL_RECOVERY_H_ 00039 00040 #include <ros/ros.h> 00041 #include <nav_core/recovery_behavior.h> 00042 #include <costmap_2d/costmap_2d_ros.h> 00043 #include <pose_follower/pose_follower.h> 00044 #include <sbpl_lattice_planner/sbpl_lattice_planner.h> 00045 #include <geometry_msgs/PoseStamped.h> 00046 #include <nav_msgs/Path.h> 00047 #include <boost/thread.hpp> 00048 #include <base_local_planner/goal_functions.h> 00049 00050 namespace sbpl_recovery 00051 { 00052 class SBPLRecovery : public nav_core::RecoveryBehavior 00053 { 00054 public: 00055 SBPLRecovery(); 00056 00057 // Initialize the parameters of the behavior 00058 void initialize (std::string n, tf::TransformListener* tf, 00059 costmap_2d::Costmap2DROS* global_costmap, 00060 costmap_2d::Costmap2DROS* local_costmap); 00061 00062 // Run the behavior 00063 void runBehavior(); 00064 00065 private: 00066 void planCB(const nav_msgs::Path::ConstPtr& plan); 00067 double sqDistance(const geometry_msgs::PoseStamped& p1, 00068 const geometry_msgs::PoseStamped& p2); 00069 std::vector<geometry_msgs::PoseStamped> makePlan(); 00070 00071 costmap_2d::Costmap2DROS* global_costmap_; 00072 costmap_2d::Costmap2DROS* local_costmap_; 00073 tf::TransformListener* tf_; 00074 sbpl_lattice_planner::SBPLLatticePlanner global_planner_; 00075 pose_follower::PoseFollower local_planner_; 00076 bool initialized_; 00077 ros::Subscriber plan_sub_; 00078 ros::Publisher vel_pub_; 00079 boost::mutex plan_mutex_; 00080 nav_msgs::Path plan_; 00081 double control_frequency_, sq_planning_distance_, controller_patience_; 00082 int planning_attempts_, attempts_per_run_; 00083 bool use_local_frame_; 00084 }; 00085 00086 }; 00087 #endif