abstract_navigation_server.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
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32  *
33  * abstract_navigation_server.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_
42 #define MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_
43 
44 #include <string>
45 #include <stdint.h>
46 
47 #include <boost/shared_ptr.hpp>
48 #include <boost/thread/recursive_mutex.hpp>
49 
51 #include <dynamic_reconfigure/server.h>
52 #include <geometry_msgs/PoseStamped.h>
53 #include <tf/transform_listener.h>
54 
56 
61 
66 
67 #include "mbf_abstract_nav/MoveBaseFlexConfig.h"
68 
69 namespace mbf_abstract_nav
70 {
71 
86 
90 
94 
98 
100 const std::string name_action_exe_path = "exe_path";
102 const std::string name_action_get_path = "get_path";
104 const std::string name_action_recovery = "recovery";
106 const std::string name_action_move_base = "move_base";
107 
108 
110 
121  {
122  public:
123 
129  AbstractNavigationServer(const TFPtr &tf_listener_ptr);
130 
134  virtual ~AbstractNavigationServer();
135 
136  virtual void stop();
137 
145  const std::string &plugin_name,
146  const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr);
147 
155  const std::string &plugin_name,
157 
165  const std::string &plugin_name,
167 
173  virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type) = 0;
174 
181  virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type) = 0;
182 
188  virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type) = 0;
189 
197  virtual bool initializePlannerPlugin(
198  const std::string& name,
199  const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr
200  ) = 0;
201 
209  virtual bool initializeControllerPlugin(
210  const std::string& name,
211  const mbf_abstract_core::AbstractController::Ptr& controller_ptr
212  ) = 0;
213 
221  virtual bool initializeRecoveryPlugin(
222  const std::string& name,
223  const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr
224  ) = 0;
225 
226 
232  virtual void callActionGetPath(ActionServerGetPath::GoalHandle goal_handle);
233 
234  virtual void cancelActionGetPath(ActionServerGetPath::GoalHandle goal_handle);
235 
241  virtual void callActionExePath(ActionServerExePath::GoalHandle goal_handle);
242 
243  virtual void cancelActionExePath(ActionServerExePath::GoalHandle goal_handle);
244 
250  virtual void callActionRecovery(ActionServerRecovery::GoalHandle goal_handle);
251 
252  virtual void cancelActionRecovery(ActionServerRecovery::GoalHandle goal_handle);
253 
259  virtual void callActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle);
260 
261  virtual void cancelActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle);
262 
266  virtual void startActionServers();
267 
272  virtual void initializeServerComponents();
273 
274  protected:
275 
282  bool transformPlanToGlobalFrame(std::vector<geometry_msgs::PoseStamped> &plan,
283  std::vector<geometry_msgs::PoseStamped> &global_plan);
284 
289  virtual void startDynamicReconfigureServer();
290 
296  virtual void reconfigure(mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level);
297 
300 
304 
306  ActionServerRecoveryPtr action_server_recovery_ptr_;
307 
309  ActionServerExePathPtr action_server_exe_path_ptr_;
310 
312  ActionServerGetPathPtr action_server_get_path_ptr_;
313 
315  ActionServerMoveBasePtr action_server_move_base_ptr_;
316 
318  DynamicReconfigureServer dsrv_;
319 
321  boost::mutex configuration_mutex_;
322 
324  mbf_abstract_nav::MoveBaseFlexConfig last_config_;
325 
327  mbf_abstract_nav::MoveBaseFlexConfig default_config_;
328 
331 
333  std::string robot_frame_;
334 
336  std::string global_frame_;
337 
340 
343 
346 
349 
351 
356  };
357 
358 } /* namespace mbf_abstract_nav */
359 
360 #endif /* MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_ */
ActionServerRecoveryPtr action_server_recovery_ptr_
shared pointer to the Recovery action server
actionlib::ActionServer< mbf_msgs::MoveBaseAction > ActionServerMoveBase
MoveBase action server.
virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string &recovery_type)=0
Loads a Recovery plugin associated with given recovery type parameter.
actionlib::ActionServer< mbf_msgs::RecoveryAction > ActionServerRecovery
Recovery action server.
ros::Publisher goal_pub_
current_goal publisher for all controller execution objects
virtual void cancelActionRecovery(ActionServerRecovery::GoalHandle goal_handle)
const TFPtr tf_listener_ptr_
shared pointer to the common TransformListener
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...
std::string global_frame_
the global frame, in which the robot is moving
boost::shared_ptr< ActionServerMoveBase > ActionServerMoveBasePtr
std::string robot_frame_
the robot frame, to get the current robot pose in the global_frame_
AbstractPluginManager< mbf_abstract_core::AbstractController > controller_plugin_manager_
virtual void startDynamicReconfigureServer()
Start a dynamic reconfigure server. This must be called only if the extending doesn&#39;t create its own...
virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string &controller_type)=0
Loads the plugin associated with the given controller type parameter.
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...
const std::string name_action_get_path
GetPath action topic name.
The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex ...
virtual void cancelActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle)
virtual void reconfigure(mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)
Reconfiguration method called by dynamic reconfigure.
boost::shared_ptr< dynamic_reconfigure::Server< mbf_abstract_nav::MoveBaseFlexConfig > > DynamicReconfigureServer
actionlib::ActionServer< mbf_msgs::GetPathAction > ActionServerGetPath
GetPath action server.
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...
actionlib::ActionServer< mbf_msgs::ExePathAction > ActionServerExePath
ExePath action server.
virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr newRecoveryExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)
Create a new abstract recovery behavior execution.
virtual void callActionExePath(ActionServerExePath::GoalHandle goal_handle)
ExePath action execution method. This method will be called if the action server receives a goal...
ActionServerGetPathPtr action_server_get_path_ptr_
shared pointer to the GetPath action server
const std::string name_action_exe_path
ExePath action topic name.
AbstractPluginManager< mbf_abstract_core::AbstractPlanner > planner_plugin_manager_
bool setup_reconfigure_
true, if the dynamic reconfigure has been setup.
mbf_abstract_nav::MoveBaseFlexConfig default_config_
the default parameter configuration save
virtual void callActionRecovery(ActionServerRecovery::GoalHandle goal_handle)
Recovery action execution method. This method will be called if the action server receives a goal...
AbstractNavigationServer(const TFPtr &tf_listener_ptr)
Constructor, reads all parameters and initializes all action servers and creates the plugin instances...
ros::Publisher vel_pub_
cmd_vel publisher for all controller execution objects
virtual void cancelActionExePath(ActionServerExePath::GoalHandle goal_handle)
ros::Duration tf_timeout_
timeout after tf returns without a result
boost::shared_ptr< ActionServerGetPath > ActionServerGetPathPtr
virtual void callActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle)
MoveBase action execution method. This method will be called if the action server receives a goal...
mbf_abstract_nav::MoveBaseFlexConfig last_config_
last configuration save
ActionServerMoveBasePtr action_server_move_base_ptr_
shared pointer to the MoveBase action server
boost::shared_ptr< ActionServerExePath > ActionServerExePathPtr
ActionServerExePathPtr action_server_exe_path_ptr_
shared pointer to the ExePath action server
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.
const std::string name_action_recovery
Recovery action topic name.
virtual void callActionGetPath(ActionServerGetPath::GoalHandle goal_handle)
GetPath action execution method. This method will be called if the action server receives a goal...
boost::mutex configuration_mutex_
configuration mutex for derived classes and other threads.
AbstractPluginManager< mbf_abstract_core::AbstractRecovery > recovery_plugin_manager_
virtual void cancelActionGetPath(ActionServerGetPath::GoalHandle goal_handle)
virtual void startActionServers()
starts all action server.
virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string &planner_type)=0
Loads the plugin associated with the given planner_type parameter.
const std::string name_action_move_base
MoveBase action topic name.
virtual mbf_abstract_nav::AbstractControllerExecution::Ptr newControllerExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)
Create a new abstract controller execution.
DynamicReconfigureServer dsrv_
dynamic reconfigure server
virtual void initializeServerComponents()
initializes all server components. Initializing the plugins of the Planner, the Controller, and the Recovery Behavior.
virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr newPlannerExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)
Create a new abstract planner execution.
boost::shared_ptr< ActionServerRecovery > ActionServerRecoveryPtr
ros::NodeHandle private_nh_
Private node handle.


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Wed May 27 2020 04:03:14