Plugin to the ros base_local_planner. Implements a wrapper for the Elastic Band Method. More...

#include <eband_local_planner_ros.h>

Inheritance diagram for eband_local_planner::EBandPlannerROS:

Public Member Functions
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.
	EBandPlannerROS ()
	Default constructor for the ros wrapper.
	EBandPlannerROS (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the ros wrapper.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Initializes the ros wrapper.
bool	isGoalReached ()
	Check if the goal pose has been achieved.
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following; also reset eband-planner.
	~EBandPlannerROS ()
	Destructor for the wrapper.
Private Member Functions
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	Odometry-Callback: function is called whenever a new odometry msg is published on that topic.
Private Attributes
nav_msgs::Odometry	base_odom_
costmap_2d::Costmap2DROS *	costmap_ros_
	pointer to costmap
boost::shared_ptr< EBandPlanner >	eband_
boost::shared_ptr < EBandTrajectoryCtrl >	eband_trj_ctrl_
boost::shared_ptr < EBandVisualization >	eband_visual_
ros::Publisher	g_plan_pub_
	publishes modified global plan
std::vector < geometry_msgs::PoseStamped >	global_plan_
bool	goal_reached_
bool	initialized_
ros::Publisher	l_plan_pub_
	publishes prediction for local commands
boost::mutex	odom_mutex_
ros::Subscriber	odom_sub_
	subscribes to the odometry topic in global namespace
std::vector< int >	plan_start_end_counter_
double	rot_stopped_vel_
tf::TransformListener *	tf_
	pointer to Transform Listener
double	trans_stopped_vel_
	lower bound for absolute value of velocity (with respect to stick-slip behaviour)
std::vector < geometry_msgs::PoseStamped >	transformed_plan_
double	xy_goal_tolerance_
	parameters to define region in which goal is treated as reached
double	yaw_goal_tolerance_

Detailed Description

Plugin to the ros base_local_planner. Implements a wrapper for the Elastic Band Method.

Definition at line 81 of file eband_local_planner_ros.h.

Constructor & Destructor Documentation

eband_local_planner::EBandPlannerROS::EBandPlannerROS ( )

Default constructor for the ros wrapper.

Definition at line 54 of file eband_local_planner_ros.cpp.

eband_local_planner::EBandPlannerROS::EBandPlannerROS	(	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 elastic band local planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Definition at line 57 of file eband_local_planner_ros.cpp.

eband_local_planner::EBandPlannerROS::~EBandPlannerROS ( )

Destructor for the wrapper.

Definition at line 65 of file eband_local_planner_ros.cpp.

Member Function Documentation

bool eband_local_planner::EBandPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

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

Implements nav_core::BaseLocalPlanner.

Definition at line 198 of file eband_local_planner_ros.cpp.

void eband_local_planner::EBandPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Initializes 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

Implements nav_core::BaseLocalPlanner.

Definition at line 68 of file eband_local_planner_ros.cpp.

bool eband_local_planner::EBandPlannerROS::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved.