an extensible path planning coordination engine More...

#include <locomotor.h>

Public Member Functions
nav_core2::GlobalPlanner &	getCurrentGlobalPlanner ()

std::string	getCurrentGlobalPlannerName () const

nav_core2::LocalPlanner &	getCurrentLocalPlanner ()

std::string	getCurrentLocalPlannerName () const

nav_core2::Costmap::Ptr	getGlobalCostmap () const

std::vector< std::string >	getGlobalPlannerNames () const

nav_2d_msgs::Pose2DStamped	getGlobalRobotPose () const

nav_core2::Costmap::Ptr	getLocalCostmap () const

std::vector< std::string >	getLocalPlannerNames () const

nav_2d_msgs::Pose2DStamped	getLocalRobotPose () const

const locomotor_msgs::NavigationState &	getNavigationState () const

TFListenerPtr	getTFListener () const

void	initializeGlobalCostmap (Executor &ex)

void	initializeGlobalPlanners (Executor &ex)

void	initializeLocalCostmap (Executor &ex)

void	initializeLocalPlanners (Executor &ex)

	Locomotor (const ros::NodeHandle &private_nh)
	Base Constructor. More...

void	publishPath (const nav_2d_msgs::Path2D &global_plan)

void	publishTwist (const nav_2d_msgs::Twist2DStamped &command)

void	requestGlobalCostmapUpdate (Executor &work_ex, Executor &result_ex, CostmapUpdateCallback cb=nullptr, CostmapUpdateExceptionCallback fail_cb=nullptr)
	Request the global costmap get updated as a new callback. More...

void	requestGlobalPlan (Executor &work_ex, Executor &result_ex, GlobalPlanCallback cb=nullptr, PlannerExceptionCallback fail_cb=nullptr)
	Request the global planner get run as a new callback. More...

void	requestLocalCostmapUpdate (Executor &work_ex, Executor &result_ex, CostmapUpdateCallback cb=nullptr, CostmapUpdateExceptionCallback fail_cb=nullptr)
	Request the local costmap get updated as a new callback. More...

void	requestLocalPlan (Executor &work_ex, Executor &result_ex, LocalPlanCallback cb=nullptr, PlannerExceptionCallback fail_cb=nullptr, NavigationCompleteCallback complete_cb=nullptr)
	Request the local planner get run as a new callback. More...

void	requestNavigationFailure (Executor &result_ex, const locomotor_msgs::ResultCode &result, NavigationFailureCallback cb=nullptr)
	Request that a onNavigationFailure event be added as a new callback. More...

virtual void	setGoal (nav_2d_msgs::Pose2DStamped goal)
	Starts a new navigation to the given goal. More...

bool	useGlobalPlanner (const std::string &name)

bool	useLocalPlanner (const std::string &name)

Protected Member Functions
void	doCostmapUpdate (nav_core2::Costmap &costmap, Executor &result_ex, CostmapUpdateCallback cb, CostmapUpdateExceptionCallback fail_cb)

nav_2d_msgs::Pose2DStamped	getRobotPose (const std::string &target_frame) const

void	makeGlobalPlan (Executor &result_ex, GlobalPlanCallback cb, PlannerExceptionCallback fail_cb)

void	makeLocalPlan (Executor &result_ex, LocalPlanCallback cb, PlannerExceptionCallback fail_cb, NavigationCompleteCallback complete_cb)

virtual void	switchLocalPlannerCallback (const std::string &old_planner, const std::string &new_planner)
	Callback for when the local planner switches to ensure the new planner has up to date information. More...

Protected Attributes
pluginlib::ClassLoader< nav_core2::Costmap >	costmap_loader_

nav_core2::Costmap::Ptr	global_costmap_

nav_2d_utils::PluginMux< nav_core2::GlobalPlanner >	global_planner_mux_

nav_core2::Costmap::Ptr	local_costmap_

nav_2d_utils::PluginMux< nav_core2::LocalPlanner >	local_planner_mux_

std::shared_ptr< nav_2d_utils::OdomSubscriber >	odom_sub_

PathPublisher	path_pub_

ros::NodeHandle	private_nh_

std::string	robot_base_frame_

locomotor_msgs::NavigationState	state_

std::shared_ptr< tf2_ros::TransformListener >	tf2_listener_

TFListenerPtr	tf_

TwistPublisher	twist_pub_

bool	use_latest_pose_

Detailed Description

an extensible path planning coordination engine

Definition at line 81 of file locomotor.h.

Constructor & Destructor Documentation

◆ Locomotor()

locomotor::Locomotor::Locomotor ( const ros::NodeHandle & private_nh )

explicit

Base Constructor.

Definition at line 49 of file locomotor.cpp.

Member Function Documentation

◆ getCurrentGlobalPlanner()

nav_core2::GlobalPlanner& locomotor::Locomotor::getCurrentGlobalPlanner ( )

inline

Definition at line 172 of file locomotor.h.

◆ getCurrentGlobalPlannerName()

std::string locomotor::Locomotor::getCurrentGlobalPlannerName ( ) const

inline

Definition at line 171 of file locomotor.h.

◆ getCurrentLocalPlanner()

nav_core2::LocalPlanner& locomotor::Locomotor::getCurrentLocalPlanner ( )

inline

Definition at line 177 of file locomotor.h.

◆ getCurrentLocalPlannerName()

std::string locomotor::Locomotor::getCurrentLocalPlannerName ( ) const

inline

Definition at line 176 of file locomotor.h.

◆ getGlobalCostmap()

nav_core2::Costmap::Ptr locomotor::Locomotor::getGlobalCostmap ( ) const

inline

Definition at line 181 of file locomotor.h.

◆ getGlobalPlannerNames()

std::vector<std::string> locomotor::Locomotor::getGlobalPlannerNames ( ) const

inline

Definition at line 170 of file locomotor.h.

◆ getGlobalRobotPose()

nav_2d_msgs::Pose2DStamped locomotor::Locomotor::getGlobalRobotPose ( ) const

inline

Definition at line 186 of file locomotor.h.

◆ getLocalCostmap()

nav_core2::Costmap::Ptr locomotor::Locomotor::getLocalCostmap ( ) const

inline

Definition at line 182 of file locomotor.h.

◆ getLocalPlannerNames()

std::vector<std::string> locomotor::Locomotor::getLocalPlannerNames ( ) const

inline

Definition at line 175 of file locomotor.h.

◆ getLocalRobotPose()

nav_2d_msgs::Pose2DStamped locomotor::Locomotor::getLocalRobotPose ( ) const

inline

Definition at line 187 of file locomotor.h.

◆ getNavigationState()

const locomotor_msgs::NavigationState& locomotor::Locomotor::getNavigationState ( ) const

inline

Definition at line 167 of file locomotor.h.

◆ getRobotPose()

nav_2d_msgs::Pose2DStamped locomotor::Locomotor::getRobotPose ( const std::string & target_frame ) const

protected

Definition at line 234 of file locomotor.cpp.

◆ getTFListener()

TFListenerPtr locomotor::Locomotor::getTFListener ( ) const

inline

Definition at line 185 of file locomotor.h.

◆ publishPath()

void locomotor::Locomotor::publishPath ( const nav_2d_msgs::Path2D & global_plan )

inline

Definition at line 190 of file locomotor.h.

◆ publishTwist()

void locomotor::Locomotor::publishTwist ( const nav_2d_msgs::Twist2DStamped & command )

inline

Definition at line 191 of file locomotor.h.

◆ setGoal()

void locomotor::Locomotor::setGoal ( nav_2d_msgs::Pose2DStamped goal )

virtual

Starts a new navigation to the given goal.

Parameters

goal	The goal to navigate to

Definition at line 112 of file locomotor.cpp.

◆ switchLocalPlannerCallback()

void locomotor::Locomotor::switchLocalPlannerCallback	(	const std::string &	old_planner,
		const std::string &	new_planner
	)

protectedvirtual

Callback for when the local planner switches to ensure the new planner has up to date information.

Parameters

old_planner	Name used on local_planner_mux of the old planner
new_planner	Name used on local_planner_mux of the new planner

Definition at line 119 of file locomotor.cpp.

◆ useGlobalPlanner()

bool locomotor::Locomotor::useGlobalPlanner ( const std::string & name )

inline

Definition at line 173 of file locomotor.h.

◆ useLocalPlanner()

bool locomotor::Locomotor::useLocalPlanner ( const std::string & name )

inline

Definition at line 178 of file locomotor.h.

Member Data Documentation

◆ costmap_loader_

pluginlib::ClassLoader<nav_core2::Costmap> locomotor::Locomotor::costmap_loader_

protected

Definition at line 213 of file locomotor.h.

◆ global_costmap_

nav_core2::Costmap::Ptr locomotor::Locomotor::global_costmap_

protected

Definition at line 217 of file locomotor.h.

◆ global_planner_mux_

nav_2d_utils::PluginMux<nav_core2::GlobalPlanner> locomotor::Locomotor::global_planner_mux_

protected

Definition at line 216 of file locomotor.h.

◆ local_costmap_

nav_core2::Costmap::Ptr locomotor::Locomotor::local_costmap_

protected

Definition at line 221 of file locomotor.h.

◆ local_planner_mux_

nav_2d_utils::PluginMux<nav_core2::LocalPlanner> locomotor::Locomotor::local_planner_mux_

protected

Definition at line 220 of file locomotor.h.

◆ odom_sub_

std::shared_ptr<nav_2d_utils::OdomSubscriber> locomotor::Locomotor::odom_sub_

protected

Definition at line 228 of file locomotor.h.

◆ path_pub_

PathPublisher locomotor::Locomotor::path_pub_

protected

Definition at line 236 of file locomotor.h.

◆ private_nh_

ros::NodeHandle locomotor::Locomotor::private_nh_

protected

Definition at line 231 of file locomotor.h.

◆ robot_base_frame_

std::string locomotor::Locomotor::robot_base_frame_

protected

Definition at line 233 of file locomotor.h.

◆ state_

locomotor_msgs::NavigationState locomotor::Locomotor::state_

protected

Definition at line 232 of file locomotor.h.

◆ tf2_listener_

std::shared_ptr<tf2_ros::TransformListener> locomotor::Locomotor::tf2_listener_

protected

Definition at line 226 of file locomotor.h.

◆ tf_

TFListenerPtr locomotor::Locomotor::tf_

protected

Definition at line 225 of file locomotor.h.

◆ twist_pub_

TwistPublisher locomotor::Locomotor::twist_pub_

protected

Definition at line 237 of file locomotor.h.

◆ use_latest_pose_

bool locomotor::Locomotor::use_latest_pose_

protected

Definition at line 227 of file locomotor.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Locomotor()

Member Function Documentation

◆ getCurrentGlobalPlanner()

◆ getCurrentGlobalPlannerName()

◆ getCurrentLocalPlanner()

◆ getCurrentLocalPlannerName()

◆ getGlobalCostmap()

◆ getGlobalPlannerNames()

◆ getGlobalRobotPose()

◆ getLocalCostmap()

◆ getLocalPlannerNames()

◆ getLocalRobotPose()

◆ getNavigationState()

◆ getRobotPose()

◆ getTFListener()

◆ publishPath()

◆ publishTwist()

◆ setGoal()

◆ switchLocalPlannerCallback()

◆ useGlobalPlanner()

◆ useLocalPlanner()

Member Data Documentation

◆ costmap_loader_

◆ global_costmap_

◆ global_planner_mux_

◆ local_costmap_

◆ local_planner_mux_

◆ odom_sub_

◆ path_pub_

◆ private_nh_

◆ robot_base_frame_

◆ state_

◆ tf2_listener_

◆ tf_

◆ twist_pub_

◆ use_latest_pose_