navfn_node.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
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00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
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00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Bhaskara Marthi
00036 *********************************************************************/
00037 #include <navfn/navfn_ros.h>
00038 #include <navfn/MakeNavPlan.h>
00039 #include <boost/shared_ptr.hpp>
00040 #include <costmap_2d/costmap_2d_ros.h>
00041 
00042 namespace cm=costmap_2d;
00043 namespace rm=geometry_msgs;
00044 
00045 using std::vector;
00046 using rm::PoseStamped;
00047 using std::string;
00048 using cm::Costmap2D;
00049 using cm::Costmap2DROS;
00050 
00051 namespace navfn {
00052 
00053 class NavfnWithCostmap : public NavfnROS
00054 {
00055 public:
00056   NavfnWithCostmap(string name, Costmap2DROS* cmap);
00057   bool makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp);
00058 
00059 private:
00060   void poseCallback(const rm::PoseStamped::ConstPtr& goal);
00061   Costmap2DROS* cmap_;
00062   ros::ServiceServer make_plan_service_;
00063   ros::Subscriber pose_sub_;
00064 };
00065 
00066 
00067 bool NavfnWithCostmap::makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp)
00068 {
00069   vector<PoseStamped> path;
00070 
00071   req.start.header.frame_id = "/map";
00072   req.goal.header.frame_id = "/map";
00073   bool success = makePlan(req.start, req.goal, path);
00074   resp.plan_found = success;
00075   if (success) {
00076     resp.path = path;
00077   }
00078 
00079   return true;
00080 }
00081 
00082 void NavfnWithCostmap::poseCallback(const rm::PoseStamped::ConstPtr& goal) {
00083     tf::Stamped<tf::Pose> global_pose;
00084     cmap_->getRobotPose(global_pose);
00085   vector<PoseStamped> path;
00086   rm::PoseStamped start;
00087   start.header.stamp = global_pose.stamp_;
00088     start.header.frame_id = global_pose.frame_id_;
00089     start.pose.position.x = global_pose.getOrigin().x();
00090     start.pose.position.y = global_pose.getOrigin().y();
00091     start.pose.position.z = global_pose.getOrigin().z();
00092     start.pose.orientation.x = global_pose.getRotation().x();
00093     start.pose.orientation.y = global_pose.getRotation().y();
00094     start.pose.orientation.z = global_pose.getRotation().z();
00095     start.pose.orientation.w = global_pose.getRotation().w();
00096     makePlan(start, *goal, path);
00097 }
00098 
00099 
00100 NavfnWithCostmap::NavfnWithCostmap(string name, Costmap2DROS* cmap) : 
00101   NavfnROS(name, cmap)
00102 {
00103   ros::NodeHandle private_nh("~");
00104   cmap_ = cmap;
00105   make_plan_service_ = private_nh.advertiseService("make_plan", &NavfnWithCostmap::makePlanService, this);
00106   pose_sub_ = private_nh.subscribe<rm::PoseStamped>("goal", 1, &NavfnWithCostmap::poseCallback, this);
00107 }
00108 
00109 } // namespace
00110 
00111 int main (int argc, char** argv)
00112 {
00113   ros::init(argc, argv, "global_planner");
00114 
00115   tf::TransformListener tf(ros::Duration(10));
00116 
00117   costmap_2d::Costmap2DROS lcr("costmap", tf);
00118 
00119   navfn::NavfnWithCostmap navfn("navfn_planner", &lcr);
00120 
00121   ros::spin();
00122   return 0;
00123 }
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navfn
Author(s): Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:27