local_planner_util.cpp
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35  * Author: Eitan Marder-Eppstein
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37 
39 
41 
42 namespace base_local_planner {
43 
46  costmap_2d::Costmap2D* costmap,
47  std::string global_frame) {
48  if(!initialized_) {
49  tf_ = tf;
50  costmap_ = costmap;
51  global_frame_ = global_frame;
52  initialized_ = true;
53  }
54  else{
55  ROS_WARN("Planner utils have already been initialized, doing nothing.");
56  }
57 }
58 
59 void LocalPlannerUtil::reconfigureCB(LocalPlannerLimits &config, bool restore_defaults)
60 {
61  if(setup_ && restore_defaults) {
62  config = default_limits_;
63  }
64 
65  if(!setup_) {
66  default_limits_ = config;
67  setup_ = true;
68  }
69  boost::mutex::scoped_lock l(limits_configuration_mutex_);
70  limits_ = LocalPlannerLimits(config);
71 }
72 
74  return costmap_;
75 }
76 
78  boost::mutex::scoped_lock l(limits_configuration_mutex_);
79  return limits_;
80 }
81 
82 
84  //we assume the global goal is the last point in the global plan
88  goal_pose);
89 }
90 
91 bool LocalPlannerUtil::setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan) {
92  if(!initialized_){
93  ROS_ERROR("Planner utils have not been initialized, please call initialize() first");
94  return false;
95  }
96 
97  //reset the global plan
98  global_plan_.clear();
99 
100  global_plan_ = orig_global_plan;
101 
102  return true;
103 }
104 
105 bool LocalPlannerUtil::getLocalPlan(tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& transformed_plan) {
106  //get the global plan in our frame
108  *tf_,
109  global_plan_,
110  global_pose,
111  *costmap_,
113  transformed_plan)) {
114  ROS_WARN("Could not transform the global plan to the frame of the controller");
115  return false;
116  }
117 
118  //now we'll prune the plan based on the position of the robot
119  if(limits_.prune_plan) {
120  base_local_planner::prunePlan(global_pose, transformed_plan, global_plan_);
121  }
122  return true;
123 }
124 
125 
126 
127 
128 } // namespace
bool getGoal(tf::Stamped< tf::Pose > &goal_pose)
bool getGoalPose(const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, tf::Stamped< tf::Pose > &goal_pose)
Returns last pose in plan.
void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults)
Callback to update the local planner&#39;s parameters.
bool getLocalPlan(tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
void prunePlan(const tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
Trim off parts of the global plan that are far enough behind the robot.
#define ROS_WARN(...)
void initialize(tf::TransformListener *tf, costmap_2d::Costmap2D *costmap, std::string global_frame)
bool transformGlobalPlan(const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const tf::Stamped< tf::Pose > &global_robot_pose, const costmap_2d::Costmap2D &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
Transforms the global plan of the robot from the planner frame to the frame of the costmap...
bool setPlan(const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
std::vector< geometry_msgs::PoseStamped > global_plan_
#define ROS_ERROR(...)


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:25