Public Member Functions | Private Member Functions | Private Attributes
frontier_exploration::FrontierExplorationServer Class Reference

Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base. More...

List of all members.

Public Member Functions

 FrontierExplorationServer (std::string name)
 Constructor for the server, sets up this node's ActionServer for exploration and ActionClient to move_base for robot movement.

Private Member Functions

void doneMovingCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
 Done callback for the move_base client, checks for errors and aborts exploration task if necessary.
void executeCb (const frontier_exploration::ExploreTaskGoalConstPtr &goal)
 Execute callback for actionserver, run after accepting a new goal.
void feedbackMovingCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
 Feedback callback for the move_base client, republishes as feedback for the exploration server.
void preemptCb ()
 Preempt callback for the server, cancels the current running goal and all associated movement actions.

Private Attributes

actionlib::SimpleActionServer
< frontier_exploration::ExploreTaskAction > 
as_
boost::shared_ptr
< costmap_2d::Costmap2DROS
explore_costmap_ros_
frontier_exploration::ExploreTaskFeedback feedback_
double frequency_
double goal_aliasing_
actionlib::SimpleActionClient
< move_base_msgs::MoveBaseAction > 
move_client_
move_base_msgs::MoveBaseGoal move_client_goal_
boost::mutex move_client_lock_
bool moving_
ros::NodeHandle nh_
ros::NodeHandle private_nh_
int retry_
bool success_
tf::TransformListener tf_listener_

Detailed Description

Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base.

Definition at line 25 of file explore_server.cpp.


Constructor & Destructor Documentation

Constructor for the server, sets up this node's ActionServer for exploration and ActionClient to move_base for robot movement.

Parameters:
nameName for SimpleActionServer

Definition at line 34 of file explore_server.cpp.


Member Function Documentation

void frontier_exploration::FrontierExplorationServer::doneMovingCb ( const actionlib::SimpleClientGoalState state,
const move_base_msgs::MoveBaseResultConstPtr &  result 
) [inline, private]

Done callback for the move_base client, checks for errors and aborts exploration task if necessary.

Parameters:
stateState from the move_base client
resultResult from the move_base client

Definition at line 241 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::executeCb ( const frontier_exploration::ExploreTaskGoalConstPtr &  goal) [inline, private]

Execute callback for actionserver, run after accepting a new goal.

Parameters:
goalActionGoal containing boundary of area to explore, and a valid centerpoint for the area.

Definition at line 72 of file explore_server.cpp.

void frontier_exploration::FrontierExplorationServer::feedbackMovingCb ( const move_base_msgs::MoveBaseFeedbackConstPtr &  feedback) [inline, private]

Feedback callback for the move_base client, republishes as feedback for the exploration server.

Parameters:
feedbackFeedback from the move_base client

Definition at line 229 of file explore_server.cpp.

Preempt callback for the server, cancels the current running goal and all associated movement actions.

Definition at line 213 of file explore_server.cpp.


Member Data Documentation

actionlib::SimpleActionServer<frontier_exploration::ExploreTaskAction> frontier_exploration::FrontierExplorationServer::as_ [private]

Definition at line 55 of file explore_server.cpp.

Definition at line 57 of file explore_server.cpp.

frontier_exploration::ExploreTaskFeedback frontier_exploration::FrontierExplorationServer::feedback_ [private]

Definition at line 63 of file explore_server.cpp.

Definition at line 58 of file explore_server.cpp.

Definition at line 58 of file explore_server.cpp.

Definition at line 64 of file explore_server.cpp.

Definition at line 65 of file explore_server.cpp.

Definition at line 62 of file explore_server.cpp.

Definition at line 59 of file explore_server.cpp.

Definition at line 52 of file explore_server.cpp.

Definition at line 53 of file explore_server.cpp.

Definition at line 60 of file explore_server.cpp.

Definition at line 59 of file explore_server.cpp.

Definition at line 54 of file explore_server.cpp.


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


frontier_exploration
Author(s): Paul Bovbel
autogenerated on Thu Jun 6 2019 20:45:41