base_local_planner::TrajectoryPlannerROS Class Reference

A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...

#include <trajectory_planner_ros.h>

Public Member Functions
bool	checkTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)
	Generate and score a single trajectory.
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.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
bool	isGoalReached ()
	Check if the goal pose has been achieved.
double	scoreTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)
	Generate and score a single trajectory.
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following.
	TrajectoryPlannerROS (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
	TrajectoryPlannerROS ()
	Default constructor for the ros wrapper.
	~TrajectoryPlannerROS ()
	Destructor for the wrapper.
Private Member Functions
std::vector< double >	loadYVels (ros::NodeHandle node)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
bool	rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel)
	Once a goal position is reached... rotate to the goal orientation.
double	sign (double x)
bool	stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel)
	Stop the robot taking into account acceleration limits.
Private Attributes
double	acc_lim_theta_
double	acc_lim_x_
double	acc_lim_y_
nav_msgs::Odometry	base_odom_
	Used to get the velocity of the robot.
double	circumscribed_radius_
costmap_2d::Costmap2D	costmap_
	The costmap the controller will use.
costmap_2d::Costmap2DROS *	costmap_ros_
	The ROS wrapper for the costmap the controller will use.
ros::Publisher	g_plan_pub_
std::string	global_frame_
	The frame in which the controller will run.
std::vector < geometry_msgs::PoseStamped >	global_plan_
double	inflation_radius_
bool	initialized_
double	inscribed_radius_
ros::Publisher	l_plan_pub_
bool	latch_xy_goal_tolerance_
MapGridVisualizer	map_viz_
	The map grid visualizer for outputting the potential field generated by the cost function.
double	max_sensor_range_
	Keep track of the effective maximum range of our sensors.
double	max_vel_th_
double	min_in_place_vel_th_
double	min_vel_th_
boost::recursive_mutex	odom_lock_
ros::Subscriber	odom_sub_
bool	prune_plan_
std::string	robot_base_frame_
	Used as the base frame id of the robot.
double	rot_stopped_velocity_
bool	rotating_to_goal_
double	sim_period_
TrajectoryPlanner *	tc_
	The trajectory controller.
tf::TransformListener *	tf_
	Used for transforming point clouds.
double	trans_stopped_velocity_
WorldModel *	world_model_
	The world model that the controller will use.
double	xy_goal_tolerance_
bool	xy_tolerance_latch_
double	yaw_goal_tolerance_

Detailed Description

A ROS wrapper for the trajectory controller that queries the param server to construct a controller.

Definition at line 74 of file trajectory_planner_ros.h.

Constructor & Destructor Documentation

base_local_planner::TrajectoryPlannerROS::TrajectoryPlannerROS ( )

Default constructor for the ros wrapper.

Definition at line 55 of file trajectory_planner_ros.cpp.

base_local_planner::TrajectoryPlannerROS::TrajectoryPlannerROS	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

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

base_local_planner::TrajectoryPlannerROS::~TrajectoryPlannerROS ( )

Destructor for the wrapper.

Definition at line 251 of file trajectory_planner_ros.cpp.

Member Function Documentation

bool base_local_planner::TrajectoryPlannerROS::checkTrajectory	(	double	vx_samp,
		double	vy_samp,
		double	vtheta_samp,
		bool	update_map = `true`
	)

Generate and score a single trajectory.

Parameters:

	vx_samp	The x velocity used to seed the trajectory
	vy_samp	The y velocity used to seed the trajectory
	vtheta_samp	The theta velocity used to seed the trajectory
	update_map	Whether or not to update the map for the planner when computing the legality of the trajectory, this is useful to set to false if you're going to be doing a lot of trajectory checking over a short period of time

Returns:: True if the trajectory is legal, false otherwise

Definition at line 517 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

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

Definition at line 352 of file trajectory_planner_ros.cpp.

void base_local_planner::TrajectoryPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

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

bool base_local_planner::TrajectoryPlannerROS::isGoalReached ( )

Check if the goal pose has been achieved.

Returns:: True if achieved, false otherwise

Definition at line 591 of file trajectory_planner_ros.cpp.

std::vector< double > base_local_planner::TrajectoryPlannerROS::loadYVels ( ros::NodeHandle node ) [private]

Definition at line 220 of file trajectory_planner_ros.cpp.

void base_local_planner::TrajectoryPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 326 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::rotateToGoal	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		double	goal_th,
		geometry_msgs::Twist &	cmd_vel
	)			`[private]`

Once a goal position is reached... rotate to the goal orientation.

Parameters:

	global_pose	The pose of the robot in the global frame
	robot_vel	The velocity of the robot
	goal_th	The desired th value for the goal
	cmd_vel	The velocity commands to be filled

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

Definition at line 288 of file trajectory_planner_ros.cpp.

double base_local_planner::TrajectoryPlannerROS::scoreTrajectory	(	double	vx_samp,
		double	vy_samp,
		double	vtheta_samp,
		bool	update_map = `true`
	)

Generate and score a single trajectory.

Parameters:

	vx_samp	The x velocity used to seed the trajectory
	vy_samp	The y velocity used to seed the trajectory
	vtheta_samp	The theta velocity used to seed the trajectory
	update_map	Whether or not to update the map for the planner when computing the legality of the trajectory, this is useful to set to false if you're going to be doing a lot of trajectory checking over a short period of time

Returns:: score of trajectory (double)

Definition at line 554 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & orig_global_plan )

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

Definition at line 336 of file trajectory_planner_ros.cpp.

double base_local_planner::TrajectoryPlannerROS::sign ( double x ) [inline, private]

Definition at line 174 of file trajectory_planner_ros.h.

bool base_local_planner::TrajectoryPlannerROS::stopWithAccLimits	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		geometry_msgs::Twist &	cmd_vel
	)			`[private]`