clear_costmap_recovery.cpp

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* Author: Eitan Marder-Eppstein
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#include <clear_costmap_recovery/clear_costmap_recovery.h>
#include <pluginlib/class_list_macros.h>

//register this planner as a RecoveryBehavior plugin
PLUGINLIB_DECLARE_CLASS(clear_costmap_recovery, ClearCostmapRecovery, clear_costmap_recovery::ClearCostmapRecovery, nav_core::RecoveryBehavior)

namespace clear_costmap_recovery {
ClearCostmapRecovery::ClearCostmapRecovery(): global_costmap_(NULL), local_costmap_(NULL), 
  tf_(NULL), initialized_(false) {} 

void ClearCostmapRecovery::initialize(std::string name, tf::TransformListener* tf,
    costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap){
  if(!initialized_){
    name_ = name;
    tf_ = tf;
    global_costmap_ = global_costmap;
    local_costmap_ = local_costmap;

    //get some parameters from the parameter server
    ros::NodeHandle private_nh("~/" + name_);

    private_nh.param("reset_distance", reset_distance_, 3.0);

    initialized_ = true;
  }
  else{
    ROS_ERROR("You should not call initialize twice on this object, doing nothing");
  }
}

void ClearCostmapRecovery::runBehavior(){
  if(!initialized_){
    ROS_ERROR("This object must be initialized before runBehavior is called");
    return;
  }

  if(global_costmap_ == NULL || local_costmap_ == NULL){
    ROS_ERROR("The costmaps passed to the ClearCostmapRecovery object cannot be NULL. Doing nothing.");
    return;
  }

  double gc_radius = global_costmap_->getCircumscribedRadius();
  double lc_radius = local_costmap_->getCircumscribedRadius();

  global_costmap_->resetMapOutsideWindow(reset_distance_, reset_distance_);
  local_costmap_->resetMapOutsideWindow(reset_distance_, reset_distance_);

  global_costmap_->clearNonLethalWindow(4 * gc_radius, 4 * gc_radius);
  local_costmap_->clearNonLethalWindow(4 * lc_radius, 4 * lc_radius);
}
};