Connect the callbacks in Locomotor to do global planning once and then local planning on a timer. More...

Public Member Functions
void	setGoal (nav_2d_msgs::Pose2DStamped goal)
	SingleThreadLocomotor (const ros::NodeHandle &private_nh)
Protected Member Functions
void	controlLoopCallback (const ros::TimerEvent &event)
void	onGlobalCostmapException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onGlobalCostmapUpdate (const ros::Duration &planning_time)
void	onGlobalPlanningException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onLocalCostmapException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onLocalCostmapUpdate (const ros::Duration &planning_time)
void	onLocalPlanningException (nav_core2::NavCore2ExceptionPtr e_ptr, const ros::Duration &planning_time)
void	onNavigationCompleted ()
void	onNavigationFailure (const locomotor_msgs::ResultCode result)
void	onNewGlobalPlan (nav_2d_msgs::Path2D new_global_plan, const ros::Duration &planning_time)
void	onNewLocalPlan (nav_2d_msgs::Twist2DStamped new_command, const ros::Duration &planning_time)
void	requestGlobalCostmapUpdate ()
void	requestNavigationFailure (const locomotor_msgs::ResultCode &result)
Protected Attributes
LocomotorActionServer	as_
ros::Timer	control_loop_timer_
ros::Duration	desired_control_duration_
Locomotor	locomotor_
Executor	main_ex_
ros::NodeHandle	private_nh_

Detailed Description

Connect the callbacks in Locomotor to do global planning once and then local planning on a timer.

When a new goal is recieved, it triggers a global costmap update When that finishes, it requests a global plan. When that finishes, it starts a timer to update the local costmap. When the local costmap update finishes, it requests a local plan. When the goal is reached, it stops the timer.

Definition at line 53 of file single_thread_locomotor.cpp.

Constructor & Destructor Documentation

locomotor::SingleThreadLocomotor::SingleThreadLocomotor ( const ros::NodeHandle & private_nh ) [inline, explicit]

Definition at line 56 of file single_thread_locomotor.cpp.

Member Function Documentation

void locomotor::SingleThreadLocomotor::controlLoopCallback ( const ros::TimerEvent & event ) [inline, protected]

Definition at line 122 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onGlobalCostmapException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 101 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onGlobalCostmapUpdate ( const ros::Duration & planning_time ) [inline, protected]

Definition at line 94 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onGlobalPlanningException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 115 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onLocalCostmapException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 137 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onLocalCostmapUpdate ( const ros::Duration & planning_time ) [inline, protected]

Definition at line 129 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onLocalPlanningException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 155 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNavigationCompleted ( ) [inline, protected]

Definition at line 162 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNavigationFailure ( const locomotor_msgs::ResultCode result ) [inline, protected]

Definition at line 169 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNewGlobalPlan	(	nav_2d_msgs::Path2D	new_global_plan,
		const ros::Duration &	planning_time
	)		`[inline, protected]`

Definition at line 107 of file single_thread_locomotor.cpp.

void locomotor::SingleThreadLocomotor::onNewLocalPlan	(	nav_2d_msgs::Twist2DStamped	new_command,
		const ros::Duration &	planning_time
	)		`[inline, protected]`