ROS Wrapper for the DWAPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base. More...

#include <dwa_planner_ros.h>

Inheritance diagram for dwa_local_planner::DWAPlannerROS:

[legend]

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...

bool	dwaComputeVelocityCommands (geometry_msgs::PoseStamped &global_pose, geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base, using dynamic window approach. More...

	DWAPlannerROS ()
	Constructor for DWAPlannerROS wrapper. More...

void	initialize (std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper. More...

bool	isGoalReached ()
	Check if the goal pose has been achieved. More...

bool	isInitialized ()

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following. More...

	~DWAPlannerROS ()
	Destructor for the wrapper. More...

Public Member Functions inherited from nav_core::BaseLocalPlanner
virtual	~BaseLocalPlanner ()

Private Member Functions
void	publishGlobalPlan (std::vector< geometry_msgs::PoseStamped > &path)

void	publishLocalPlan (std::vector< geometry_msgs::PoseStamped > &path)

void	reconfigureCB (DWAPlannerConfig &config, uint32_t level)
	Callback to update the local planner's parameters based on dynamic reconfigure. More...

Private Attributes
costmap_2d::Costmap2DROS *	costmap_ros_

geometry_msgs::PoseStamped	current_pose_

dwa_local_planner::DWAPlannerConfig	default_config_

boost::shared_ptr< DWAPlanner >	dp_
	The trajectory controller. More...

dynamic_reconfigure::Server< DWAPlannerConfig > *	dsrv_

ros::Publisher	g_plan_pub_

bool	initialized_

ros::Publisher	l_plan_pub_

base_local_planner::LatchedStopRotateController	latchedStopRotateController_

base_local_planner::OdometryHelperRos	odom_helper_

std::string	odom_topic_

base_local_planner::LocalPlannerUtil	planner_util_

bool	setup_

tf2_ros::Buffer *	tf_
	Used for transforming point clouds. More...

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseLocalPlanner
	BaseLocalPlanner ()

Detailed Description

ROS Wrapper for the DWAPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base.

Definition at line 101 of file dwa_planner_ros.h.

Constructor & Destructor Documentation

◆ DWAPlannerROS()

dwa_local_planner::DWAPlannerROS::DWAPlannerROS ( )

Constructor for DWAPlannerROS wrapper.

Definition at line 127 of file dwa_planner_ros.cpp.

◆ ~DWAPlannerROS()

dwa_local_planner::DWAPlannerROS::~DWAPlannerROS ( )

Destructor for the wrapper.

Definition at line 216 of file dwa_planner_ros.cpp.

Member Function Documentation

◆ computeVelocityCommands()

bool dwa_local_planner::DWAPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

virtual

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns: True if a valid trajectory was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 299 of file dwa_planner_ros.cpp.

◆ dwaComputeVelocityCommands()

bool dwa_local_planner::DWAPlannerROS::dwaComputeVelocityCommands	(	geometry_msgs::PoseStamped &	global_pose,
		geometry_msgs::Twist &	cmd_vel
	)

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base, using dynamic window approach.

Parameters

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns: True if a valid trajectory was found, false otherwise

Definition at line 223 of file dwa_planner_ros.cpp.

◆ initialize()

void dwa_local_planner::DWAPlannerROS::initialize	(	std::string	name,
		tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Constructs the ros wrapper.

Parameters

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Implements nav_core::BaseLocalPlanner.

Definition at line 132 of file dwa_planner_ros.cpp.

◆ isGoalReached()

bool dwa_local_planner::DWAPlannerROS::isGoalReached ( )

virtual

Check if the goal pose has been achieved.

Returns: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 189 of file dwa_planner_ros.cpp.

◆ isInitialized()

bool dwa_local_planner::DWAPlannerROS::isInitialized ( )

inline

Definition at line 154 of file dwa_planner_ros.h.

◆ publishGlobalPlan()

void dwa_local_planner::DWAPlannerROS::publishGlobalPlan ( std::vector< geometry_msgs::PoseStamped > & path )

private

Definition at line 212 of file dwa_planner_ros.cpp.

◆ publishLocalPlan()

void dwa_local_planner::DWAPlannerROS::publishLocalPlan ( std::vector< geometry_msgs::PoseStamped > & path )

private

Definition at line 207 of file dwa_planner_ros.cpp.

◆ reconfigureCB()

void dwa_local_planner::DWAPlannerROS::reconfigureCB	(	DWAPlannerConfig &	config,
		uint32_t	level
	)

private

Callback to update the local planner's parameters based on dynamic reconfigure.

Definition at line 92 of file dwa_planner_ros.cpp.

◆ setPlan()

bool dwa_local_planner::DWAPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & orig_global_plan )

virtual

Set the plan that the controller is following.

Parameters

orig_global_plan The plan to pass to the controller

Returns: True if the plan was updated successfully, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 177 of file dwa_planner_ros.cpp.

Member Data Documentation

◆ costmap_ros_

costmap_2d::Costmap2DROS* dwa_local_planner::DWAPlannerROS::costmap_ros_

private

Definition at line 177 of file dwa_planner_ros.h.

◆ current_pose_

geometry_msgs::PoseStamped dwa_local_planner::DWAPlannerROS::current_pose_

private

Definition at line 182 of file dwa_planner_ros.h.

◆ default_config_

dwa_local_planner::DWAPlannerConfig dwa_local_planner::DWAPlannerROS::default_config_

private

Definition at line 180 of file dwa_planner_ros.h.

◆ dp_

boost::shared_ptr<DWAPlanner> dwa_local_planner::DWAPlannerROS::dp_

private

The trajectory controller.

Definition at line 175 of file dwa_planner_ros.h.

◆ dsrv_

dynamic_reconfigure::Server<DWAPlannerConfig>* dwa_local_planner::DWAPlannerROS::dsrv_

private

Definition at line 179 of file dwa_planner_ros.h.

◆ g_plan_pub_

ros::Publisher dwa_local_planner::DWAPlannerROS::g_plan_pub_

private

Definition at line 171 of file dwa_planner_ros.h.

◆ initialized_

bool dwa_local_planner::DWAPlannerROS::initialized_

private

Definition at line 187 of file dwa_planner_ros.h.

◆ l_plan_pub_

ros::Publisher dwa_local_planner::DWAPlannerROS::l_plan_pub_

private

Definition at line 171 of file dwa_planner_ros.h.

◆ latchedStopRotateController_

base_local_planner::LatchedStopRotateController dwa_local_planner::DWAPlannerROS::latchedStopRotateController_

private

Definition at line 184 of file dwa_planner_ros.h.

◆ odom_helper_

base_local_planner::OdometryHelperRos dwa_local_planner::DWAPlannerROS::odom_helper_

private

Definition at line 190 of file dwa_planner_ros.h.

◆ odom_topic_

std::string dwa_local_planner::DWAPlannerROS::odom_topic_

private

Definition at line 191 of file dwa_planner_ros.h.

◆ planner_util_

base_local_planner::LocalPlannerUtil dwa_local_planner::DWAPlannerROS::planner_util_

private

Definition at line 173 of file dwa_planner_ros.h.

◆ setup_

bool dwa_local_planner::DWAPlannerROS::setup_

private

Definition at line 181 of file dwa_planner_ros.h.

◆ tf_

tf2_ros::Buffer* dwa_local_planner::DWAPlannerROS::tf_

private

Used for transforming point clouds.

Definition at line 168 of file dwa_planner_ros.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DWAPlannerROS()

◆ ~DWAPlannerROS()

Member Function Documentation

◆ computeVelocityCommands()

◆ dwaComputeVelocityCommands()

◆ initialize()

◆ isGoalReached()

◆ isInitialized()

◆ publishGlobalPlan()

◆ publishLocalPlan()

◆ reconfigureCB()

◆ setPlan()

Member Data Documentation

◆ costmap_ros_

◆ current_pose_

◆ default_config_

◆ dp_

◆ dsrv_

◆ g_plan_pub_

◆ initialized_

◆ l_plan_pub_

◆ latchedStopRotateController_

◆ odom_helper_

◆ odom_topic_

◆ planner_util_

◆ setup_

◆ tf_