The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex and bundles the controller execution classes,the planner execution classes and the recovery execution classes. It provides the following action servers ActionServerGetPath -> callActionGetPath(), ActionServerExePath -> callActionExePath(), ActionServerRecovery -> callActionRecovery() and ActionServerMoveBase -> callActionMoveBase(). More...

#include <abstract_navigation_server.h>

Public Member Functions
	AbstractNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor, reads all parameters and initializes all action servers and creates the plugin instances. Parameters are the concrete implementations of the abstract classes. More...

virtual void	callActionExePath (ActionServerExePath::GoalHandle goal_handle)
	ExePath action execution method. This method will be called if the action server receives a goal. More...

virtual void	callActionGetPath (ActionServerGetPath::GoalHandle goal_handle)
	GetPath action execution method. This method will be called if the action server receives a goal. More...

virtual void	callActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)
	MoveBase action execution method. This method will be called if the action server receives a goal. More...

virtual void	callActionRecovery (ActionServerRecovery::GoalHandle goal_handle)
	Recovery action execution method. This method will be called if the action server receives a goal. More...

virtual void	cancelActionExePath (ActionServerExePath::GoalHandle goal_handle)

virtual void	cancelActionGetPath (ActionServerGetPath::GoalHandle goal_handle)

virtual void	cancelActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)

virtual void	cancelActionRecovery (ActionServerRecovery::GoalHandle goal_handle)

bool	getRobotPose (geometry_msgs::PoseStamped &robot_pose)
	Computes the current robot pose (robot_frame_) in the global frame (global_frame_). More...

virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)=0
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized! More...

virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)=0
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized! More...

virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)=0
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized! More...

virtual void	initializeServerComponents ()
	initializes all server components. Initializing the plugins of the Planner, the Controller, and the Recovery Behavior. More...

virtual mbf_abstract_core::AbstractController::Ptr	loadControllerPlugin (const std::string &controller_type)=0
	Loads the plugin associated with the given controller type parameter. More...

virtual mbf_abstract_core::AbstractPlanner::Ptr	loadPlannerPlugin (const std::string &planner_type)=0
	Loads the plugin associated with the given planner_type parameter. More...

virtual mbf_abstract_core::AbstractRecovery::Ptr	loadRecoveryPlugin (const std::string &recovery_type)=0
	Loads a Recovery plugin associated with given recovery type parameter. More...

virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string plugin_name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)
	shared pointer to a new ControllerExecution More...

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)
	shared pointer to a new PlannerExecution More...

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)
	shared pointer to a new RecoveryExecution More...

virtual void	startActionServers ()
	starts all action server. More...

virtual void	stop ()

virtual	~AbstractNavigationServer ()
	Destructor. More...

Protected Member Functions
virtual void	reconfigure (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)
	Reconfiguration method called by dynamic reconfigure. More...

virtual void	startDynamicReconfigureServer ()
	Start a dynamic reconfigure server. This must be called only if the extending doesn't create its own. More...

bool	transformPlanToGlobalFrame (std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Transforms a plan to the global frame (global_frame_) coord system. More...

Protected Attributes
ActionServerExePathPtr	action_server_exe_path_ptr_
	shared pointer to the ExePath action server More...

ActionServerGetPathPtr	action_server_get_path_ptr_
	shared pointer to the GetPath action server More...

ActionServerMoveBasePtr	action_server_move_base_ptr_
	shared pointer to the MoveBase action server More...

ActionServerRecoveryPtr	action_server_recovery_ptr_
	shared pointer to the Recovery action server More...

bool	clearing_rotation_allowed_
	true, if clearing rotate is allowed. More...

boost::mutex	configuration_mutex_
	configuration mutex for derived classes and other threads. More...

ControllerAction	controller_action_

AbstractPluginManager< mbf_abstract_core::AbstractController >	controller_plugin_manager_

mbf_abstract_nav::MoveBaseFlexConfig	default_config_
	the default parameter configuration save More...

DynamicReconfigureServer	dsrv_
	dynamic reconfigure server More...

std::string	global_frame_
	the global frame, in which the robot is moving More...

geometry_msgs::PoseStamped	goal_pose_
	current goal pose; used to compute remaining distance and angle More...

ros::Publisher	goal_pub_
	current_goal publisher for all controller execution objects More...

mbf_abstract_nav::MoveBaseFlexConfig	last_config_
	last configuration save More...

MoveBaseAction	move_base_action_

double	oscillation_distance_
	minimal move distance to not detect an oscillation More...

ros::Duration	oscillation_timeout_
	timeout after a oscillation is detected More...

PlannerAction	planner_action_

AbstractPluginManager< mbf_abstract_core::AbstractPlanner >	planner_plugin_manager_

ros::NodeHandle	private_nh_
	Private node handle. More...

RecoveryAction	recovery_action_

bool	recovery_enabled_
	true, if recovery behavior for the MoveBase action is enabled. More...

AbstractPluginManager< mbf_abstract_core::AbstractRecovery >	recovery_plugin_manager_

std::string	robot_frame_
	the robot frame, to get the current robot pose in the global_frame_ More...

RobotInformation	robot_info_

geometry_msgs::PoseStamped	robot_pose_
	current robot pose; moving controller is responsible to update it by calling getRobotPose More...

bool	setup_reconfigure_
	true, if the dynamic reconfigure has been setup. More...

const TFPtr	tf_listener_ptr_
	shared pointer to the common TransformListener More...

ros::Duration	tf_timeout_
	timeout after tf returns without a result More...

ros::Publisher	vel_pub_
	cmd_vel publisher for all controller execution objects More...

Detailed Description

The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex and bundles the controller execution classes,the planner execution classes and the recovery execution classes. It provides the following action servers ActionServerGetPath -> callActionGetPath(), ActionServerExePath -> callActionExePath(), ActionServerRecovery -> callActionRecovery() and ActionServerMoveBase -> callActionMoveBase().

Definition at line 119 of file abstract_navigation_server.h.

Constructor & Destructor Documentation

mbf_abstract_nav::AbstractNavigationServer::AbstractNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor, reads all parameters and initializes all action servers and creates the plugin instances. Parameters are the concrete implementations of the abstract classes.

Parameters

tf_listener_ptr	shared pointer to the common TransformListener buffering transformations
planning_ptr	shared pointer to an object of the concrete derived implementation of the AbstractPlannerExecution
moving_ptr	shared pointer to an object of the concrete derived implementation of the AbstractControllerExecution
recovery_ptr	shared pointer to an object of the concrete derived implementation of the AbstractRecoveryExecution

Definition at line 48 of file abstract_navigation_server.cpp.

mbf_abstract_nav::AbstractNavigationServer::~AbstractNavigationServer ( )

virtual

Destructor.

Definition at line 125 of file abstract_navigation_server.cpp.

Member Function Documentation

void mbf_abstract_nav::AbstractNavigationServer::callActionExePath ( ActionServerExePath::GoalHandle goal_handle )

virtual

ExePath action execution method. This method will be called if the action server receives a goal.

Parameters

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 189 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::callActionGetPath ( ActionServerGetPath::GoalHandle goal_handle )

virtual

GetPath action execution method. This method will be called if the action server receives a goal.

Parameters

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 130 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::callActionMoveBase ( ActionServerMoveBase::GoalHandle goal_handle )

virtual

MoveBase action execution method. This method will be called if the action server receives a goal.

Parameters

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 305 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::callActionRecovery ( ActionServerRecovery::GoalHandle goal_handle )

virtual

Recovery action execution method. This method will be called if the action server receives a goal.

Parameters

goal	SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

Definition at line 247 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionExePath ( ActionServerExePath::GoalHandle goal_handle )

virtual

Definition at line 241 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionGetPath ( ActionServerGetPath::GoalHandle goal_handle )

virtual

Definition at line 183 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionMoveBase ( ActionServerMoveBase::GoalHandle goal_handle )

virtual

Definition at line 311 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::cancelActionRecovery ( ActionServerRecovery::GoalHandle goal_handle )

virtual

Definition at line 299 of file abstract_navigation_server.cpp.

bool mbf_abstract_nav::AbstractNavigationServer::getRobotPose ( geometry_msgs::PoseStamped & robot_pose )

Computes the current robot pose (robot_frame_) in the global frame (global_frame_).

Parameters

robot_pose Reference to the robot_pose message object to be filled.

Returns: true, if the current robot pose could be computed, false otherwise.

virtual bool mbf_abstract_nav::AbstractNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)

pure virtual

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters

name	The name of the controller
controller_ptr	pointer to the controller object which corresponds to the name param

Returns: true if init succeeded, false otherwise

virtual bool mbf_abstract_nav::AbstractNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)

pure virtual

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters

name	The name of the planner
planner_ptr	pointer to the planner object which corresponds to the name param

Returns: true if init succeeded, false otherwise

virtual bool mbf_abstract_nav::AbstractNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)

pure virtual

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters

name	The name of the recovery behavior
behavior_ptr	pointer to the recovery behavior object which corresponds to the name param

Returns: true if init succeeded, false otherwise

void mbf_abstract_nav::AbstractNavigationServer::initializeServerComponents ( )

virtual

initializes all server components. Initializing the plugins of the Planner, the Controller, and the Recovery Behavior.

Definition at line 118 of file abstract_navigation_server.cpp.

virtual mbf_abstract_core::AbstractController::Ptr mbf_abstract_nav::AbstractNavigationServer::loadControllerPlugin ( const std::string & controller_type )

pure virtual

Loads the plugin associated with the given controller type parameter.

Parameters

controller_type The type of the controller plugin

Returns: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

virtual mbf_abstract_core::AbstractPlanner::Ptr mbf_abstract_nav::AbstractNavigationServer::loadPlannerPlugin ( const std::string & planner_type )

pure virtual

Loads the plugin associated with the given planner_type parameter.

Parameters

planner_type The type of the planner plugin to load.

Returns: Pointer to the loaded plugin

virtual mbf_abstract_core::AbstractRecovery::Ptr mbf_abstract_nav::AbstractNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type )

pure virtual

Loads a Recovery plugin associated with given recovery type parameter.

Parameters

recovery_name The name of the Recovery plugin

Returns: A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

mbf_abstract_nav::AbstractControllerExecution::Ptr mbf_abstract_nav::AbstractNavigationServer::newControllerExecution	(	const std::string	plugin_name,
		const mbf_abstract_core::AbstractController::Ptr	plugin_ptr
	)

virtual

shared pointer to a new ControllerExecution

Definition at line 326 of file abstract_navigation_server.cpp.

mbf_abstract_nav::AbstractPlannerExecution::Ptr mbf_abstract_nav::AbstractNavigationServer::newPlannerExecution	(	const std::string	plugin_name,
		const mbf_abstract_core::AbstractPlanner::Ptr	plugin_ptr
	)

virtual

shared pointer to a new PlannerExecution

Definition at line 317 of file abstract_navigation_server.cpp.

mbf_abstract_nav::AbstractRecoveryExecution::Ptr mbf_abstract_nav::AbstractNavigationServer::newRecoveryExecution	(	const std::string	plugin_name,
		const mbf_abstract_core::AbstractRecovery::Ptr	plugin_ptr
	)

virtual

shared pointer to a new RecoveryExecution

Definition at line 334 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::reconfigure	(	mbf_abstract_nav::MoveBaseFlexConfig &	config,
		uint32_t	level
	)

protectedvirtual

Reconfiguration method called by dynamic reconfigure.

Parameters

config	Configuration parameters. See the MoveBaseFlexConfig definition.
level	bit mask, which parameters are set.

Definition at line 358 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::startActionServers ( )

virtual

starts all action server.

Definition at line 343 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::startDynamicReconfigureServer ( )

protectedvirtual

Start a dynamic reconfigure server. This must be called only if the extending doesn't create its own.

Definition at line 351 of file abstract_navigation_server.cpp.

void mbf_abstract_nav::AbstractNavigationServer::stop ( )

virtual

Definition at line 384 of file abstract_navigation_server.cpp.

bool mbf_abstract_nav::AbstractNavigationServer::transformPlanToGlobalFrame	(	std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

protected

Transforms a plan to the global frame (global_frame_) coord system.

Parameters

plan	Input plan to be transformed.
global_plan	Output plan, which is then transformed to the global frame.

Returns: true, if the transformation succeeded, false otherwise

Member Data Documentation

ActionServerExePathPtr mbf_abstract_nav::AbstractNavigationServer::action_server_exe_path_ptr_

protected

shared pointer to the ExePath action server

Definition at line 302 of file abstract_navigation_server.h.

ActionServerGetPathPtr mbf_abstract_nav::AbstractNavigationServer::action_server_get_path_ptr_

protected

shared pointer to the GetPath action server

Definition at line 305 of file abstract_navigation_server.h.

ActionServerMoveBasePtr mbf_abstract_nav::AbstractNavigationServer::action_server_move_base_ptr_

protected

shared pointer to the MoveBase action server

Definition at line 308 of file abstract_navigation_server.h.

ActionServerRecoveryPtr mbf_abstract_nav::AbstractNavigationServer::action_server_recovery_ptr_

protected

shared pointer to the Recovery action server

Definition at line 299 of file abstract_navigation_server.h.

bool mbf_abstract_nav::AbstractNavigationServer::clearing_rotation_allowed_

protected

true, if clearing rotate is allowed.

Definition at line 353 of file abstract_navigation_server.h.

boost::mutex mbf_abstract_nav::AbstractNavigationServer::configuration_mutex_

protected

configuration mutex for derived classes and other threads.

Definition at line 314 of file abstract_navigation_server.h.

ControllerAction mbf_abstract_nav::AbstractNavigationServer::controller_action_

protected

Definition at line 363 of file abstract_navigation_server.h.

AbstractPluginManager<mbf_abstract_core::AbstractController> mbf_abstract_nav::AbstractNavigationServer::controller_plugin_manager_

protected

Definition at line 295 of file abstract_navigation_server.h.

mbf_abstract_nav::MoveBaseFlexConfig mbf_abstract_nav::AbstractNavigationServer::default_config_

protected

the default parameter configuration save

Definition at line 320 of file abstract_navigation_server.h.

DynamicReconfigureServer mbf_abstract_nav::AbstractNavigationServer::dsrv_

protected

dynamic reconfigure server

Definition at line 311 of file abstract_navigation_server.h.

std::string mbf_abstract_nav::AbstractNavigationServer::global_frame_

protected

the global frame, in which the robot is moving

Definition at line 329 of file abstract_navigation_server.h.

geometry_msgs::PoseStamped mbf_abstract_nav::AbstractNavigationServer::goal_pose_

protected

current goal pose; used to compute remaining distance and angle

Definition at line 341 of file abstract_navigation_server.h.

ros::Publisher mbf_abstract_nav::AbstractNavigationServer::goal_pub_

protected

current_goal publisher for all controller execution objects

Definition at line 359 of file abstract_navigation_server.h.

mbf_abstract_nav::MoveBaseFlexConfig mbf_abstract_nav::AbstractNavigationServer::last_config_

protected

last configuration save

Definition at line 317 of file abstract_navigation_server.h.

MoveBaseAction mbf_abstract_nav::AbstractNavigationServer::move_base_action_

protected

Definition at line 366 of file abstract_navigation_server.h.

double mbf_abstract_nav::AbstractNavigationServer::oscillation_distance_

protected

minimal move distance to not detect an oscillation

Definition at line 347 of file abstract_navigation_server.h.

ros::Duration mbf_abstract_nav::AbstractNavigationServer::oscillation_timeout_

protected

timeout after a oscillation is detected

Definition at line 344 of file abstract_navigation_server.h.

PlannerAction mbf_abstract_nav::AbstractNavigationServer::planner_action_

protected

Definition at line 364 of file abstract_navigation_server.h.

AbstractPluginManager<mbf_abstract_core::AbstractPlanner> mbf_abstract_nav::AbstractNavigationServer::planner_plugin_manager_

protected

Definition at line 294 of file abstract_navigation_server.h.

ros::NodeHandle mbf_abstract_nav::AbstractNavigationServer::private_nh_

protected

Private node handle.

Definition at line 292 of file abstract_navigation_server.h.

RecoveryAction mbf_abstract_nav::AbstractNavigationServer::recovery_action_

protected

Definition at line 365 of file abstract_navigation_server.h.

bool mbf_abstract_nav::AbstractNavigationServer::recovery_enabled_

protected

true, if recovery behavior for the MoveBase action is enabled.

Definition at line 350 of file abstract_navigation_server.h.

AbstractPluginManager<mbf_abstract_core::AbstractRecovery> mbf_abstract_nav::AbstractNavigationServer::recovery_plugin_manager_

protected

Definition at line 296 of file abstract_navigation_server.h.

std::string mbf_abstract_nav::AbstractNavigationServer::robot_frame_

protected

the robot frame, to get the current robot pose in the global_frame_

Definition at line 326 of file abstract_navigation_server.h.

RobotInformation mbf_abstract_nav::AbstractNavigationServer::robot_info_

protected

Definition at line 361 of file abstract_navigation_server.h.

geometry_msgs::PoseStamped mbf_abstract_nav::AbstractNavigationServer::robot_pose_

protected

current robot pose; moving controller is responsible to update it by calling getRobotPose

Definition at line 338 of file abstract_navigation_server.h.

bool mbf_abstract_nav::AbstractNavigationServer::setup_reconfigure_

protected

true, if the dynamic reconfigure has been setup.

Definition at line 323 of file abstract_navigation_server.h.

const TFPtr mbf_abstract_nav::AbstractNavigationServer::tf_listener_ptr_

protected

shared pointer to the common TransformListener

Definition at line 335 of file abstract_navigation_server.h.

ros::Duration mbf_abstract_nav::AbstractNavigationServer::tf_timeout_

protected

timeout after tf returns without a result

Definition at line 332 of file abstract_navigation_server.h.

ros::Publisher mbf_abstract_nav::AbstractNavigationServer::vel_pub_

protected

cmd_vel publisher for all controller execution objects

Definition at line 356 of file abstract_navigation_server.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation