frontier_exploration::FrontierExplorationServer Class Reference

Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base. More...

Public Member Functions
	FrontierExplorationServer (std::string name)
	Constructor for the server, sets up this node's ActionServer for exploration and ActionClient to move_base for robot movement. More...

Private Member Functions
void	doneMovingCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
	Done callback for the move_base client, checks for errors and aborts exploration task if necessary. More...
void	executeCb (const frontier_exploration::ExploreTaskGoalConstPtr &goal)
	Execute callback for actionserver, run after accepting a new goal. More...
void	feedbackMovingCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
	Feedback callback for the move_base client, republishes as feedback for the exploration server. More...
void	preemptCb ()
	Preempt callback for the server, cancels the current running goal and all associated movement actions. More...

Private Attributes
actionlib::SimpleActionServer< frontier_exploration::ExploreTaskAction >	as_
boost::shared_ptr< costmap_2d::Costmap2DROS >	explore_costmap_ros_
frontier_exploration::ExploreTaskFeedback	feedback_
double	frequency_
double	goal_aliasing_
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction >	move_client_
move_base_msgs::MoveBaseGoal	move_client_goal_
boost::mutex	move_client_lock_
bool	moving_
ros::NodeHandle	nh_
ros::NodeHandle	private_nh_
int	retry_
bool	success_
tf::TransformListener	tf_listener_

Detailed Description

Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base.

Definition at line 25 of file explore_server.cpp.

Constructor & Destructor Documentation

frontier_exploration::FrontierExplorationServer::FrontierExplorationServer ( std::string  name )

inline

Constructor for the server, sets up this node's ActionServer for exploration and ActionClient to move_base for robot movement.

Parameters

name	Name for SimpleActionServer

Definition at line 34 of file explore_server.cpp.

Member Function Documentation

void frontier_exploration::FrontierExplorationServer::doneMovingCb ( const actionlib::SimpleClientGoalState &  state, const move_base_msgs::MoveBaseResultConstPtr &  result  )

inlineprivate

Done callback for the move_base client, checks for errors and aborts exploration task if necessary.

Parameters

state	State from the move_base client
result	Result from the move_base client

Definition at line 241 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::executeCb ( const frontier_exploration::ExploreTaskGoalConstPtr &  goal )

inlineprivate

Execute callback for actionserver, run after accepting a new goal.

Parameters

goal	ActionGoal containing boundary of area to explore, and a valid centerpoint for the area.

Definition at line 72 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::feedbackMovingCb ( const move_base_msgs::MoveBaseFeedbackConstPtr &  feedback )

inlineprivate

Feedback callback for the move_base client, republishes as feedback for the exploration server.

Parameters

feedback

Feedback from the move_base client

Definition at line 229 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::preemptCb ( )

inlineprivate

Preempt callback for the server, cancels the current running goal and all associated movement actions.

Definition at line 213 of file explore_server.cpp.

Member Data Documentation

actionlib::SimpleActionServer<frontier_exploration::ExploreTaskAction> frontier_exploration::FrontierExplorationServer::as_

private

Definition at line 55 of file explore_server.cpp.

boost::shared_ptr<costmap_2d::Costmap2DROS> frontier_exploration::FrontierExplorationServer::explore_costmap_ros_

private

Definition at line 57 of file explore_server.cpp.

frontier_exploration::ExploreTaskFeedback frontier_exploration::FrontierExplorationServer::feedback_

private

Definition at line 63 of file explore_server.cpp.

double frontier_exploration::FrontierExplorationServer::frequency_

private

Definition at line 58 of file explore_server.cpp.

double frontier_exploration::FrontierExplorationServer::goal_aliasing_

private

Definition at line 58 of file explore_server.cpp.

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> frontier_exploration::FrontierExplorationServer::move_client_

private

Definition at line 64 of file explore_server.cpp.

move_base_msgs::MoveBaseGoal frontier_exploration::FrontierExplorationServer::move_client_goal_

private

Definition at line 65 of file explore_server.cpp.

boost::mutex frontier_exploration::FrontierExplorationServer::move_client_lock_

private

Definition at line 62 of file explore_server.cpp.

bool frontier_exploration::FrontierExplorationServer::moving_

private

Definition at line 59 of file explore_server.cpp.

ros::NodeHandle frontier_exploration::FrontierExplorationServer::nh_

private

Definition at line 52 of file explore_server.cpp.

ros::NodeHandle frontier_exploration::FrontierExplorationServer::private_nh_

private

Definition at line 53 of file explore_server.cpp.

int frontier_exploration::FrontierExplorationServer::retry_

private

Definition at line 60 of file explore_server.cpp.

bool frontier_exploration::FrontierExplorationServer::success_

private

Definition at line 59 of file explore_server.cpp.

tf::TransformListener frontier_exploration::FrontierExplorationServer::tf_listener_

private

Definition at line 54 of file explore_server.cpp.

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The documentation for this class was generated from the following file:

• explore_server.cpp