rotate_recovery.h

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* Author: Eitan Marder-Eppstein
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#ifndef ROTATE_RECOVERY_ROTATE_RECOVERY_H
#define ROTATE_RECOVERY_ROTATE_RECOVERY_H
#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/buffer.h>
#include <base_local_planner/costmap_model.h>
#include <string>
 
namespace rotate_recovery
{
class RotateRecovery : public nav_core::RecoveryBehavior
{
public:
  RotateRecovery();
 
  void initialize(std::string name, tf2_ros::Buffer*,
                  costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap);
 
  void runBehavior();
 
  ~RotateRecovery();
 
private:
  costmap_2d::Costmap2DROS* local_costmap_;
  bool initialized_;
  double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_;
  base_local_planner::CostmapModel* world_model_;
};
};  // namespace rotate_recovery
#endif  // ROTATE_RECOVERY_ROTATE_RECOVERY_H