sbpl_recovery: sbpl_recovery.h Source File

00001 /*********************************************************************
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00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
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00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef SBPL_RECOVERY_SBPL_RECOVERY_H_
00038 #define SBPL_RECOVERY_SBPL_RECOVERY_H_
00039 
00040 #include <ros/ros.h>
00041 #include <nav_core/recovery_behavior.h>
00042 #include <costmap_2d/costmap_2d_ros.h>
00043 #include <pose_follower/pose_follower.h>
00044 #include <sbpl_lattice_planner/sbpl_lattice_planner.h>
00045 #include <nav_msgs/Path.h>
00046 #include <boost/thread.hpp>
00047 #include <base_local_planner/goal_functions.h>
00048 
00049 namespace sbpl_recovery
00050 {
00051   class SBPLRecovery : public nav_core::RecoveryBehavior
00052   {
00053     public:
00054       SBPLRecovery();
00055 
00056       // Initialize the parameters of the behavior
00057       void initialize (std::string n, tf::TransformListener* tf,
00058           costmap_2d::Costmap2DROS* global_costmap,
00059           costmap_2d::Costmap2DROS* local_costmap);
00060 
00061       // Run the behavior
00062       void runBehavior();
00063 
00064     private:
00065       void planCB(const nav_msgs::Path::ConstPtr& plan);
00066       double sqDistance(const geometry_msgs::PoseStamped& p1, 
00067           const geometry_msgs::PoseStamped& p2);
00068       std::vector<geometry_msgs::PoseStamped> makePlan();
00069 
00070       costmap_2d::Costmap2DROS* global_costmap_;
00071       costmap_2d::Costmap2DROS* local_costmap_;
00072       tf::TransformListener* tf_;
00073       sbpl_lattice_planner::SBPLLatticePlanner global_planner_;
00074       pose_follower::PoseFollower local_planner_;
00075       bool initialized_;
00076       ros::Subscriber plan_sub_;
00077       ros::Publisher vel_pub_;
00078       boost::mutex plan_mutex_;
00079       nav_msgs::Path plan_;
00080       double control_frequency_, sq_planning_distance_, controller_patience_;
00081       int planning_attempts_, attempts_per_run_;
00082       bool use_local_frame_;
00083   };
00084 
00085 };
00086 #endif