wrapper_local_planner.cpp
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * wrapper_local_planner.cpp
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
42 
43 namespace mbf_nav_core_wrapper
44 {
45 
47  const geometry_msgs::PoseStamped& robot_pose,
48  const geometry_msgs::TwistStamped& robot_velocity,
49  geometry_msgs::TwistStamped &cmd_vel,
50  std::string &message)
51 {
52  bool success = nav_core_plugin_->computeVelocityCommands(cmd_vel.twist);
53  message = success ? "Goal reached" : "Controller failed";
54  return success ? 0 : 100; // SUCCESS | FAILURE
55 }
56 
58 {
59  return nav_core_plugin_->isGoalReached();
60 }
61 
62 bool WrapperLocalPlanner::isGoalReached(double xy_tolerance, double yaw_tolerance)
63 {
64  return isGoalReached();
65 }
66 
67 bool WrapperLocalPlanner::setPlan(const std::vector<geometry_msgs::PoseStamped> &plan)
68 {
69  return nav_core_plugin_->setPlan(plan);
70 }
71 
73 {
74  return false;
75 }
76 
77 void WrapperLocalPlanner::initialize(std::string name,
78  TF *tf,
79  costmap_2d::Costmap2DROS *costmap_ros)
80 {
81  nav_core_plugin_->initialize(name, tf, costmap_ros);
82 }
83 
85  : nav_core_plugin_(plugin)
86 {}
87 
89 {}
90 
91 }; /* namespace mbf_abstract_core */
virtual bool setPlan(const std::vector< geometry_msgs::PoseStamped > &plan)
Set the plan that the local planner is following.
virtual ~WrapperLocalPlanner()
Virtual destructor for the interface.
WrapperLocalPlanner(boost::shared_ptr< nav_core::BaseLocalPlanner >plugin)
Public constructor used for handling a nav_core-based plugin.
virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)
Given the current position, orientation, and velocity of the robot, compute velocity commands to send...
virtual bool isGoalReached()
Check if the goal pose has been achieved by the local planner.
virtual void initialize(std::string name, TF *tf, costmap_2d::Costmap2DROS *costmap_ros)
Constructs the local planner.
boost::shared_ptr< nav_core::BaseLocalPlanner > nav_core_plugin_
virtual bool cancel()
Requests the planner to cancel, e.g. if it takes too much time.


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Tue Jun 18 2019 19:34:40