dwa_local_planner: dwa_local_planner: dwa_planner

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00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
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00020 *     from this software without specific prior written permission.
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
00038 #define DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
00039 #include <angles/angles.h>
00040 #include <dwa_local_planner/dwa_planner.h>
00041 #include <boost/shared_ptr.hpp>
00042 #include <nav_core/base_local_planner.h>
00043 
00044 namespace dwa_local_planner {
00049   class DWAPlannerROS : public nav_core::BaseLocalPlanner {
00050     public:
00054       DWAPlannerROS() : costmap_ros_(NULL), tf_(NULL), initialized_(false) {}
00055 
00062       void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros);
00063 
00068       bool isGoalReached();
00069 
00075       bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
00076 
00082       bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);
00083 
00084     private:
00085       inline double sign(double x){
00086         return x < 0.0 ? -1.0 : 1.0;
00087       }
00088 
00097       bool rotateToGoal(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel);
00105       bool stopWithAccLimits(const tf::Stamped<tf::Pose>& global_pose, const tf::Stamped<tf::Pose>& robot_vel, geometry_msgs::Twist& cmd_vel);
00106 
00111       void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
00112 
00113       costmap_2d::Costmap2DROS* costmap_ros_;
00114       tf::TransformListener* tf_;
00115       double max_vel_th_, min_vel_th_, min_rot_vel_;
00116       double rot_stopped_vel_, trans_stopped_vel_;
00117       double yaw_goal_tolerance_, xy_goal_tolerance_;
00118       bool prune_plan_;
00119       bool initialized_;
00120       ros::Subscriber odom_sub_;
00121       ros::Publisher g_plan_pub_, l_plan_pub_;
00122       boost::mutex odom_mutex_;
00123       nav_msgs::Odometry base_odom_;
00124       boost::shared_ptr<DWAPlanner> dp_;
00125       std::vector<geometry_msgs::PoseStamped> global_plan_;
00126       bool rotating_to_goal_;
00127       bool latch_xy_goal_tolerance_, xy_tolerance_latch_;
00128   };
00129 };
00130 #endif
dwa_planner_ros.h
