A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location.
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#include <move_base.h>
A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location.
Definition at line 83 of file move_base.h.
Constructor for the actions.
- Parameters
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| name | The name of the action |
| tf | A reference to a TransformListener |
Definition at line 48 of file move_base.cpp.
| move_base::MoveBase::~MoveBase |
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| bool move_base::MoveBase::clearCostmapsService |
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std_srvs::Empty::Request & |
req, |
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std_srvs::Empty::Response & |
resp |
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private |
A service call that clears the costmaps of obstacles.
- Parameters
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| req | The service request |
| resp | The service response |
- Returns
- True if the service call succeeds, false otherwise
Definition at line 328 of file move_base.cpp.
| void move_base::MoveBase::clearCostmapWindows |
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double |
size_x, |
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double |
size_y |
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Clears obstacles within a window around the robot.
- Parameters
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| size_x | The x size of the window |
| size_y | The y size of the window |
Definition at line 273 of file move_base.cpp.
| double move_base::MoveBase::distance |
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const geometry_msgs::PoseStamped & |
p1, |
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const geometry_msgs::PoseStamped & |
p2 |
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| void move_base::MoveBase::executeCb |
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const move_base_msgs::MoveBaseGoalConstPtr & |
move_base_goal | ) |
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| bool move_base::MoveBase::executeCycle |
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geometry_msgs::PoseStamped & |
goal, |
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std::vector< geometry_msgs::PoseStamped > & |
global_plan |
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) |
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Performs a control cycle.
- Parameters
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| goal | A reference to the goal to pursue |
| global_plan | A reference to the global plan being used |
- Returns
- True if processing of the goal is done, false otherwise
Definition at line 790 of file move_base.cpp.
| void move_base::MoveBase::goalCB |
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const geometry_msgs::PoseStamped::ConstPtr & |
goal | ) |
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private |
| geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame |
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const geometry_msgs::PoseStamped & |
goal_pose_msg | ) |
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| bool move_base::MoveBase::isQuaternionValid |
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const geometry_msgs::Quaternion & |
q | ) |
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| void move_base::MoveBase::loadDefaultRecoveryBehaviors |
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private |
Loads the default recovery behaviors for the navigation stack.
Definition at line 1084 of file move_base.cpp.
Load the recovery behaviors for the navigation stack from the parameter server.
- Parameters
-
- Returns
- True if the recovery behaviors were loaded successfully, false otherwise
Definition at line 999 of file move_base.cpp.
| bool move_base::MoveBase::makePlan |
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const geometry_msgs::PoseStamped & |
goal, |
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std::vector< geometry_msgs::PoseStamped > & |
plan |
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Make a new global plan.
- Parameters
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| goal | The goal to plan to |
| plan | Will be filled in with the plan made by the planner |
- Returns
- True if planning succeeds, false otherwise
Definition at line 459 of file move_base.cpp.
| bool move_base::MoveBase::planService |
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nav_msgs::GetPlan::Request & |
req, |
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nav_msgs::GetPlan::Response & |
resp |
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) |
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private |
A service call that can be made when the action is inactive that will return a plan.
- Parameters
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| req | The goal request |
| resp | The plan request |
- Returns
- True if planning succeeded, false otherwise
Definition at line 339 of file move_base.cpp.
| void move_base::MoveBase::planThread |
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| void move_base::MoveBase::publishZeroVelocity |
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Publishes a velocity command of zero to the base.
Definition at line 490 of file move_base.cpp.
| void move_base::MoveBase::reconfigureCB |
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move_base::MoveBaseConfig & |
config, |
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uint32_t |
level |
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) |
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| void move_base::MoveBase::resetState |
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private |
Reset the state of the move_base action and send a zero velocity command to the base.
Definition at line 1120 of file move_base.cpp.
This is used to wake the planner at periodic intervals.
Definition at line 551 of file move_base.cpp.
| bool move_base::MoveBase::c_freq_change_ |
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| double move_base::MoveBase::circumscribed_radius_ |
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| double move_base::MoveBase::clearing_radius_ |
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| bool move_base::MoveBase::clearing_rotation_allowed_ |
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| boost::recursive_mutex move_base::MoveBase::configuration_mutex_ |
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| double move_base::MoveBase::conservative_reset_dist_ |
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| double move_base::MoveBase::controller_frequency_ |
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| double move_base::MoveBase::controller_patience_ |
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| std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::controller_plan_ |
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| move_base::MoveBaseConfig move_base::MoveBase::default_config_ |
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| dynamic_reconfigure::Server<move_base::MoveBaseConfig>* move_base::MoveBase::dsrv_ |
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| std::string move_base::MoveBase::global_frame_ |
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| double move_base::MoveBase::inscribed_radius_ |
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| move_base::MoveBaseConfig move_base::MoveBase::last_config_ |
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| ros::Time move_base::MoveBase::last_oscillation_reset_ |
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| ros::Time move_base::MoveBase::last_valid_control_ |
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| ros::Time move_base::MoveBase::last_valid_plan_ |
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| std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::latest_plan_ |
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| int32_t move_base::MoveBase::max_planning_retries_ |
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| bool move_base::MoveBase::new_global_plan_ |
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| double move_base::MoveBase::oscillation_distance_ |
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| geometry_msgs::PoseStamped move_base::MoveBase::oscillation_pose_ |
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| double move_base::MoveBase::oscillation_timeout_ |
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| bool move_base::MoveBase::p_freq_change_ |
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| double move_base::MoveBase::planner_frequency_ |
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| geometry_msgs::PoseStamped move_base::MoveBase::planner_goal_ |
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| boost::recursive_mutex move_base::MoveBase::planner_mutex_ |
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| double move_base::MoveBase::planner_patience_ |
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| std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::planner_plan_ |
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| boost::thread* move_base::MoveBase::planner_thread_ |
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| uint32_t move_base::MoveBase::planning_retries_ |
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| bool move_base::MoveBase::recovery_behavior_enabled_ |
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| unsigned int move_base::MoveBase::recovery_index_ |
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| std::string move_base::MoveBase::robot_base_frame_ |
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| bool move_base::MoveBase::runPlanner_ |
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| bool move_base::MoveBase::setup_ |
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| bool move_base::MoveBase::shutdown_costmaps_ |
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The documentation for this class was generated from the following files: