Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
dwb_local_planner::DebugDWBLocalPlanner Class Reference

A version of DWBLocalPlanner with ROS services for the major components. More...

#include <debug_dwb_local_planner.h>

Inheritance diagram for dwb_local_planner::DebugDWBLocalPlanner:
Inheritance graph
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Public Member Functions

void initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
 Override the DWB constructor to also advertise the services. More...
 
- Public Member Functions inherited from dwb_local_planner::DWBLocalPlanner
nav_2d_msgs::Twist2DStamped computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) override
 nav_core2 computeVelocityCommands - calculates the best command given the current pose and velocity More...
 
virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity, std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &results)
 Compute the best command given the current pose and velocity, with possible debug information. More...
 
 DWBLocalPlanner ()
 Constructor that brings up pluginlib loaders. More...
 
void initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
 nav_core2 initialization More...
 
bool isGoalReached (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) override
 nav_core2 isGoalReached - Check whether the robot has reached its goal, given the current pose & velocity. More...
 
virtual dwb_msgs::TrajectoryScore scoreTrajectory (const dwb_msgs::Trajectory2D &traj, double best_score=-1)
 Score a given command. Can be used for testing. More...
 
void setGoalPose (const nav_2d_msgs::Pose2DStamped &goal_pose) override
 nav_core2 setGoalPose - Sets the global goal pose More...
 
void setPlan (const nav_2d_msgs::Path2D &path) override
 nav_core2 setPlan - Sets the global plan More...
 
virtual ~DWBLocalPlanner ()
 
- Public Member Functions inherited from nav_core2::LocalPlanner
virtual ~LocalPlanner ()
 

Protected Member Functions

bool debugLocalPlanService (dwb_msgs::DebugLocalPlan::Request &req, dwb_msgs::DebugLocalPlan::Response &res)
 
bool generateTrajectoryService (dwb_msgs::GenerateTrajectory::Request &req, dwb_msgs::GenerateTrajectory::Response &res)
 
bool generateTwistsService (dwb_msgs::GenerateTwists::Request &req, dwb_msgs::GenerateTwists::Response &res)
 
TrajectoryCritic::Ptr getCritic (std::string name)
 
bool getCriticScoreService (dwb_msgs::GetCriticScore::Request &req, dwb_msgs::GetCriticScore::Response &res)
 
bool scoreTrajectoryService (dwb_msgs::ScoreTrajectory::Request &req, dwb_msgs::ScoreTrajectory::Response &res)
 
- Protected Member Functions inherited from dwb_local_planner::DWBLocalPlanner
virtual dwb_msgs::TrajectoryScore coreScoringAlgorithm (const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D velocity, std::shared_ptr< dwb_msgs::LocalPlanEvaluation > &results)
 Iterate through all the twists and find the best one. More...
 
virtual void loadCritics (const std::string name)
 Load the critic parameters from the namespace. More...
 
virtual void prepare (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)
 Helper method for preparing for the core scoring algorithm. More...
 
std::string resolveCriticClassName (std::string base_name)
 try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic" More...
 
virtual nav_2d_msgs::Path2D transformGlobalPlan (const nav_2d_msgs::Pose2DStamped &pose)
 Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses. More...
 
geometry_msgs::Pose2D transformPoseToLocal (const nav_2d_msgs::Pose2DStamped &pose)
 Helper method to transform a given pose to the local costmap frame. More...
 

Protected Attributes

ros::ServiceServer critic_service_
 
ros::ServiceServer debug_service_
 
ros::ServiceServer generate_traj_service_
 
ros::ServiceServer score_service_
 
ros::ServiceServer twist_gen_service_
 
- Protected Attributes inherited from dwb_local_planner::DWBLocalPlanner
nav_core2::Costmap::Ptr costmap_
 
pluginlib::ClassLoader< TrajectoryCriticcritic_loader_
 
std::vector< TrajectoryCritic::Ptrcritics_
 
bool debug_trajectory_details_
 
std::vector< std::string > default_critic_namespaces_
 
nav_2d_msgs::Path2D global_plan_
 Saved Global Plan. More...
 
GoalChecker::Ptr goal_checker_
 
pluginlib::ClassLoader< GoalCheckergoal_checker_loader_
 
nav_2d_msgs::Pose2DStamped goal_pose_
 Saved Goal Pose. More...
 
ros::NodeHandle planner_nh_
 
double prune_distance_
 
bool prune_plan_
 
DWBPublisher pub_
 
bool short_circuit_trajectory_evaluation_
 
TFListenerPtr tf_
 
pluginlib::ClassLoader< TrajectoryGeneratortraj_gen_loader_
 
TrajectoryGenerator::Ptr traj_generator_
 
bool update_costmap_before_planning_
 

Detailed Description

A version of DWBLocalPlanner with ROS services for the major components.

Advertises three services: GenerateTwists, GenerateTrajectory and DebugLocalPlan

Definition at line 54 of file debug_dwb_local_planner.h.

Member Function Documentation

bool dwb_local_planner::DebugDWBLocalPlanner::debugLocalPlanService ( dwb_msgs::DebugLocalPlan::Request &  req,
dwb_msgs::DebugLocalPlan::Response &  res 
)
protected

Definition at line 124 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::generateTrajectoryService ( dwb_msgs::GenerateTrajectory::Request &  req,
dwb_msgs::GenerateTrajectory::Response &  res 
)
protected

Definition at line 68 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::generateTwistsService ( dwb_msgs::GenerateTwists::Request &  req,
dwb_msgs::GenerateTwists::Response &  res 
)
protected

Definition at line 61 of file debug_dwb_local_planner.cpp.

TrajectoryCritic::Ptr dwb_local_planner::DebugDWBLocalPlanner::getCritic ( std::string  name)
protected

Definition at line 88 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::getCriticScoreService ( dwb_msgs::GetCriticScore::Request &  req,
dwb_msgs::GetCriticScore::Response &  res 
)
protected

Definition at line 98 of file debug_dwb_local_planner.cpp.

void dwb_local_planner::DebugDWBLocalPlanner::initialize ( const ros::NodeHandle parent,
const std::string &  name,
TFListenerPtr  tf,
nav_core2::Costmap::Ptr  costmap 
)
overridevirtual

Override the DWB constructor to also advertise the services.

Implements nav_core2::LocalPlanner.

Definition at line 44 of file debug_dwb_local_planner.cpp.

bool dwb_local_planner::DebugDWBLocalPlanner::scoreTrajectoryService ( dwb_msgs::ScoreTrajectory::Request &  req,
dwb_msgs::ScoreTrajectory::Response &  res 
)
protected

Definition at line 75 of file debug_dwb_local_planner.cpp.

Member Data Documentation

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::critic_service_
protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::debug_service_
protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::generate_traj_service_
protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::score_service_
protected

Definition at line 76 of file debug_dwb_local_planner.h.

ros::ServiceServer dwb_local_planner::DebugDWBLocalPlanner::twist_gen_service_
protected

Definition at line 76 of file debug_dwb_local_planner.h.


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


dwb_local_planner
Author(s): David V. Lu!!
autogenerated on Wed Jun 26 2019 20:06:13