Public Member Functions | Private Member Functions | Private Attributes
move_base::MoveBase Class Reference

A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. More...

#include <move_base.h>

List of all members.

Public Member Functions

bool executeCycle (geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &global_plan)
 Performs a control cycle.
 MoveBase (tf::TransformListener &tf)
 Constructor for the actions.
virtual ~MoveBase ()
 Destructor - Cleans up.

Private Member Functions

bool clearCostmapsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
 A service call that clears the costmaps of obstacles.
void clearCostmapWindows (double size_x, double size_y)
 Clears obstacles within a window around the robot.
double distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
void executeCb (const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal)
void goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
geometry_msgs::PoseStamped goalToGlobalFrame (const geometry_msgs::PoseStamped &goal_pose_msg)
bool isQuaternionValid (const geometry_msgs::Quaternion &q)
void loadDefaultRecoveryBehaviors ()
 Loads the default recovery behaviors for the navigation stack.
bool loadRecoveryBehaviors (ros::NodeHandle node)
 Load the recovery behaviors for the navigation stack from the parameter server.
bool makePlan (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
 Make a new global plan.
bool planService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
 A service call that can be made when the action is inactive that will return a plan.
void planThread ()
void publishZeroVelocity ()
 Publishes a velocity command of zero to the base.
void reconfigureCB (move_base::MoveBaseConfig &config, uint32_t level)
void resetState ()
 Reset the state of the move_base action and send a zero velocity command to the base.
void wakePlanner (const ros::TimerEvent &event)
 This is used to wake the planner at periodic intervals.

Private Attributes

ros::Publisher action_goal_pub_
MoveBaseActionServeras_
pluginlib::ClassLoader
< nav_core::BaseGlobalPlanner
bgp_loader_
pluginlib::ClassLoader
< nav_core::BaseLocalPlanner
blp_loader_
bool c_freq_change_
double circumscribed_radius_
ros::ServiceServer clear_costmaps_srv_
double clearing_radius_
bool clearing_rotation_allowed_
boost::recursive_mutex configuration_mutex_
double conservative_reset_dist_
costmap_2d::Costmap2DROScontroller_costmap_ros_
double controller_frequency_
double controller_patience_
std::vector
< geometry_msgs::PoseStamped > * 
controller_plan_
ros::Publisher current_goal_pub_
move_base::MoveBaseConfig default_config_
dynamic_reconfigure::Server
< move_base::MoveBaseConfig > * 
dsrv_
std::string global_frame_
tf::Stamped< tf::Poseglobal_pose_
ros::Subscriber goal_sub_
double inscribed_radius_
move_base::MoveBaseConfig last_config_
ros::Time last_oscillation_reset_
ros::Time last_valid_control_
ros::Time last_valid_plan_
std::vector
< geometry_msgs::PoseStamped > * 
latest_plan_
ros::ServiceServer make_plan_srv_
bool new_global_plan_
double oscillation_distance_
geometry_msgs::PoseStamped oscillation_pose_
double oscillation_timeout_
bool p_freq_change_
boost::shared_ptr
< nav_core::BaseGlobalPlanner
planner_
boost::condition_variable planner_cond_
costmap_2d::Costmap2DROSplanner_costmap_ros_
double planner_frequency_
geometry_msgs::PoseStamped planner_goal_
boost::mutex planner_mutex_
double planner_patience_
std::vector
< geometry_msgs::PoseStamped > * 
planner_plan_
boost::thread * planner_thread_
bool recovery_behavior_enabled_
std::vector< boost::shared_ptr
< nav_core::RecoveryBehavior > > 
recovery_behaviors_
unsigned int recovery_index_
pluginlib::ClassLoader
< nav_core::RecoveryBehavior
recovery_loader_
RecoveryTrigger recovery_trigger_
std::string robot_base_frame_
bool runPlanner_
bool setup_
bool shutdown_costmaps_
MoveBaseState state_
boost::shared_ptr
< nav_core::BaseLocalPlanner
tc_
tf::TransformListenertf_
ros::Publisher vel_pub_

Detailed Description

A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location.

Definition at line 83 of file move_base.h.


Constructor & Destructor Documentation

Constructor for the actions.

Parameters:
nameThe name of the action
tfA reference to a TransformListener

Definition at line 48 of file move_base.cpp.

Destructor - Cleans up.

Definition at line 480 of file move_base.cpp.


Member Function Documentation

bool move_base::MoveBase::clearCostmapsService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  resp 
) [private]

A service call that clears the costmaps of obstacles.

Parameters:
reqThe service request
respThe service response
Returns:
True if the service call succeeds, false otherwise

Definition at line 384 of file move_base.cpp.

void move_base::MoveBase::clearCostmapWindows ( double  size_x,
double  size_y 
) [private]

Clears obstacles within a window around the robot.

Parameters:
size_xThe x size of the window
size_yThe y size of the window

Definition at line 329 of file move_base.cpp.

double move_base::MoveBase::distance ( const geometry_msgs::PoseStamped &  p1,
const geometry_msgs::PoseStamped &  p2 
) [private]

Definition at line 821 of file move_base.cpp.

void move_base::MoveBase::executeCb ( const move_base_msgs::MoveBaseGoalConstPtr &  move_base_goal) [private]

Definition at line 678 of file move_base.cpp.

bool move_base::MoveBase::executeCycle ( geometry_msgs::PoseStamped &  goal,
std::vector< geometry_msgs::PoseStamped > &  global_plan 
)

Performs a control cycle.

Parameters:
goalA reference to the goal to pursue
global_planA reference to the global plan being used
Returns:
True if processing of the goal is done, false otherwise

Definition at line 826 of file move_base.cpp.

void move_base::MoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr &  goal) [private]

Definition at line 320 of file move_base.cpp.

geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame ( const geometry_msgs::PoseStamped &  goal_pose_msg) [private]

Definition at line 574 of file move_base.cpp.

bool move_base::MoveBase::isQuaternionValid ( const geometry_msgs::Quaternion &  q) [private]

Definition at line 544 of file move_base.cpp.

Loads the default recovery behaviors for the navigation stack.

Definition at line 1117 of file move_base.cpp.

Load the recovery behaviors for the navigation stack from the parameter server.

Parameters:
nodeThe ros::NodeHandle to be used for loading parameters
Returns:
True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 1032 of file move_base.cpp.

bool move_base::MoveBase::makePlan ( const geometry_msgs::PoseStamped &  goal,
std::vector< geometry_msgs::PoseStamped > &  plan 
) [private]

Make a new global plan.

Parameters:
goalThe goal to plan to
planWill be filled in with the plan made by the planner
Returns:
True if planning succeeds, false otherwise

Definition at line 505 of file move_base.cpp.

bool move_base::MoveBase::planService ( nav_msgs::GetPlan::Request &  req,
nav_msgs::GetPlan::Response &  resp 
) [private]

A service call that can be made when the action is inactive that will return a plan.

Parameters:
reqThe goal request
respThe plan request
Returns:
True if planning succeeded, false otherwise

Definition at line 392 of file move_base.cpp.

void move_base::MoveBase::planThread ( ) [private]

Definition at line 603 of file move_base.cpp.

Publishes a velocity command of zero to the base.

Definition at line 536 of file move_base.cpp.

void move_base::MoveBase::reconfigureCB ( move_base::MoveBaseConfig &  config,
uint32_t  level 
) [private]

Definition at line 203 of file move_base.cpp.

void move_base::MoveBase::resetState ( ) [private]

Reset the state of the move_base action and send a zero velocity command to the base.

Definition at line 1153 of file move_base.cpp.

void move_base::MoveBase::wakePlanner ( const ros::TimerEvent event) [private]

This is used to wake the planner at periodic intervals.

Definition at line 597 of file move_base.cpp.


Member Data Documentation

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boost::recursive_mutex move_base::MoveBase::configuration_mutex_ [private]

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std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::controller_plan_ [private]

Definition at line 211 of file move_base.h.

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move_base::MoveBaseConfig move_base::MoveBase::default_config_ [private]

Definition at line 227 of file move_base.h.

dynamic_reconfigure::Server<move_base::MoveBaseConfig>* move_base::MoveBase::dsrv_ [private]

Definition at line 222 of file move_base.h.

std::string move_base::MoveBase::global_frame_ [private]

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move_base::MoveBaseConfig move_base::MoveBase::last_config_ [private]

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std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::latest_plan_ [private]

Definition at line 210 of file move_base.h.

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geometry_msgs::PoseStamped move_base::MoveBase::oscillation_pose_ [private]

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boost::condition_variable move_base::MoveBase::planner_cond_ [private]

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geometry_msgs::PoseStamped move_base::MoveBase::planner_goal_ [private]

Definition at line 217 of file move_base.h.

boost::mutex move_base::MoveBase::planner_mutex_ [private]

Definition at line 215 of file move_base.h.

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std::vector<geometry_msgs::PoseStamped>* move_base::MoveBase::planner_plan_ [private]

Definition at line 209 of file move_base.h.

boost::thread* move_base::MoveBase::planner_thread_ [private]

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std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > move_base::MoveBase::recovery_behaviors_ [private]

Definition at line 186 of file move_base.h.

unsigned int move_base::MoveBase::recovery_index_ [private]

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The documentation for this class was generated from the following files:


move_base
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:31