The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_controller_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapControllerExecution:

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Public Types
typedef boost::shared_ptr< costmap_2d::Costmap2DROS >	CostmapPtr

Public Types inherited from mbf_abstract_nav::AbstractControllerExecution
enum	ControllerState

typedef boost::shared_ptr< AbstractControllerExecution >	Ptr

Public Member Functions
	CostmapControllerExecution (const std::string name, const mbf_costmap_core::CostmapController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, CostmapPtr &costmap_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor. More...

virtual	~CostmapControllerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
	AbstractControllerExecution (const std::string name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)

virtual bool	cancel ()

ros::Time	getLastPluginCallTime ()

ControllerState	getState ()

geometry_msgs::TwistStamped	getVelocityCmd ()

bool	isMoving ()

bool	isPatienceExceeded ()

void	reconfigure (const MoveBaseFlexConfig &config)

bool	setControllerFrequency (double frequency)

void	setNewPlan (const std::vector< geometry_msgs::PoseStamped > &plan)

virtual bool	start ()

virtual	~AbstractControllerExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (std::string name, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)

std::string	getMessage ()

std::string	getName ()

uint32_t	getOutcome ()

void	join ()

virtual void	stop ()

void	waitForStateUpdate (boost::chrono::microseconds const &duration)

Protected Member Functions
virtual uint32_t	computeVelocityCmd (const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
	Request plugin for a new velocity command. We override this method so we can lock the local costmap before calling the planner. More...

Protected Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
virtual void	run ()

void	setVelocityCmd (const geometry_msgs::TwistStamped &vel_cmd_stamped)

Private Member Functions
mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
std::string	controller_name_
	name of the controller plugin assigned by the class loader More...

CostmapPtr &	costmap_ptr_
	costmap for 2d navigation planning More...

bool	lock_costmap_
	Whether to lock costmap before calling the controller (see issue #4 for details) More...

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
	ARRIVED_GOAL

	CANCELED

	EMPTY_PLAN

	GOT_LOCAL_CMD

	INITIALIZED

	INTERNAL_ERROR

	INVALID_PLAN

	MAX_RETRIES

	NO_LOCAL_CMD

	NO_PLAN

	PAT_EXCEEDED

	PLANNING

	STARTED

	STOPPED

Public Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
boost::function< void()>	cleanup_fn_

boost::function< void()>	setup_fn_

Static Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
static const double	DEFAULT_CONTROLLER_FREQUENCY

Protected Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
mbf_abstract_core::AbstractController::Ptr	controller_

ros::Time	last_call_time_

int	max_retries_

ros::Duration	patience_

std::string	plugin_name_

ros::Time	start_time_

const TFPtr &	tf_listener_ptr

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_

boost::condition_variable	condition_

std::string	message_

std::string	name_

uint32_t	outcome_

boost::thread	thread_

Detailed Description

The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 58 of file costmap_controller_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<costmap_2d::Costmap2DROS> mbf_costmap_nav::CostmapControllerExecution::CostmapPtr

Definition at line 62 of file costmap_controller_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapControllerExecution::CostmapControllerExecution	(	const std::string	name,
		const mbf_costmap_core::CostmapController::Ptr &	controller_ptr,
		const ros::Publisher &	vel_pub,
		const ros::Publisher &	goal_pub,
		const TFPtr &	tf_listener_ptr,
		CostmapPtr &	costmap_ptr,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters

condition	Thread sleep condition variable, to wake up connected threads
tf_listener_ptr	Shared pointer to a common tf listener
costmap_ptr	Shared pointer to the costmap.

Definition at line 45 of file costmap_controller_execution.cpp.

mbf_costmap_nav::CostmapControllerExecution::~CostmapControllerExecution ( )

virtual

Destructor.

Definition at line 63 of file costmap_controller_execution.cpp.

Member Function Documentation

uint32_t mbf_costmap_nav::CostmapControllerExecution::computeVelocityCmd	(	const geometry_msgs::PoseStamped &	robot_pose,
		const geometry_msgs::TwistStamped &	robot_velocity,
		geometry_msgs::TwistStamped &	vel_cmd,
		std::string &	message
	)

protectedvirtual

Request plugin for a new velocity command. We override this method so we can lock the local costmap before calling the planner.

Parameters

pose	the current pose of the robot.
velocity	the current velocity of the robot.
cmd_vel	Will be filled with the velocity command to be passed to the robot base.
message	Optional more detailed outcome as a string.