Public Member Functions
def	__init__
def	calculate_headings
def	distance
def	field_callback
def	get_next_waypoint_index
def	odom_callback
def	plan_path
def	setup_path_following
def	step_path_following
def	visualize_path
def	visualize_path_as_marker
def	visualize_path_as_path
Public Attributes
	clear_costmaps
	current_destination
	current_distance
	cut_spacing
	field_frame_id
	field_shape
	goal_state
	just_reset
	move_base_client
	path
	path_marker_pub
	path_markers
	path_status
	previous_destination
	robot_pose
	start_path_following
	testing
	timeout

Detailed Description

This is a ROS node that is responsible for planning and executing
the a path through the field.

Definition at line 47 of file path_planner.py.

Constructor & Destructor Documentation

def path_planner.PathPlannerNode.__init__ ( self )

Definition at line 52 of file path_planner.py.

Member Function Documentation

def path_planner.PathPlannerNode.calculate_headings	(	self,
		path
	)

Calculates the headings between paths and adds them to the waypoints.

Definition at line 157 of file path_planner.py.

def path_planner.PathPlannerNode.distance	(	self,
		p1,
		p2
	)

Returns the distance between two points.

Definition at line 358 of file path_planner.py.

def path_planner.PathPlannerNode.field_callback	(	self,
		msg
	)

Handles new field polygons, has to be called
at least once before planning happens.

Definition at line 100 of file path_planner.py.

def path_planner.PathPlannerNode.get_next_waypoint_index ( self )

Figures out what the index of the next waypoint is.

Iterates through the path_status's and finds the visiting one,
or the next not_visited one if not visiting on exists.

Definition at line 341 of file path_planner.py.

def path_planner.PathPlannerNode.odom_callback	(	self,
		msg
	)

Watches for the robot's Odometry data, which is used in the path
planning as the initial robot position.

Definition at line 113 of file path_planner.py.

def path_planner.PathPlannerNode.plan_path	(	self,
		field_polygon,
		origin = `None`,
		degrees = `0`
	)

This is called after a field polygon has been received.

This uses the automow_planning.coverage module to plan a
coverage path using the field geometry.  The path consists of
a series of waypoints.

Definition at line 120 of file path_planner.py.

def path_planner.PathPlannerNode.setup_path_following	(	self,
		degrees = `0`
	)

Sets up the node for following the planned path.

Will wait until the initial robot pose is set and until
the move_base actionlib service is available.

Definition at line 292 of file path_planner.py.

def path_planner.PathPlannerNode.step_path_following ( self )

Steps the path following system, checking if new waypoints
should be sent, if a timeout has occurred, or if path following
needs to be paused.

Definition at line 365 of file path_planner.py.

def path_planner.PathPlannerNode.visualize_path	(	self,
		path,
		path_status = `None`
	)

Convenience function, calls both visualize_path{as_path, as_marker}

Definition at line 176 of file path_planner.py.

def path_planner.PathPlannerNode.visualize_path_as_marker	(	self,
		path,
		path_status
	)

Publishes visualization Markers to represent the planned path.

Publishes the path as a series of spheres connected by lines.
The color of the spheres is set by the path_status parameter,
which is a list of strings of which the possible values are in
['not_visited', 'visiting', 'visited'].

Definition at line 216 of file path_planner.py.

def path_planner.PathPlannerNode.visualize_path_as_path	(	self,
		path,
		path_status = `None`
	)

Publishes a nav_msgs/Path msg containing the planned path.

If path_status is not None then the only waypoints put in the
nav_msgs/Path msg will be ones that are 'not_visited' or 'visiting'.

Definition at line 184 of file path_planner.py.