dwa_planner_ros.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, 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
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
00038 #define DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_
00039 
00040 #include <boost/shared_ptr.hpp>
00041 #include <boost/thread.hpp>
00042 
00043 #include <tf/transform_listener.h>
00044 
00045 #include <dynamic_reconfigure/server.h>
00046 #include <dwa_local_planner/DWAPlannerConfig.h>
00047 
00048 #include <angles/angles.h>
00049 
00050 #include <nav_msgs/Odometry.h>
00051 
00052 #include <costmap_2d/costmap_2d_ros.h>
00053 #include <nav_core/base_local_planner.h>
00054 #include <base_local_planner/latched_stop_rotate_controller.h>
00055 
00056 #include <base_local_planner/odometry_helper_ros.h>
00057 
00058 #include <dwa_local_planner/dwa_planner.h>
00059 
00060 namespace dwa_local_planner {
00066   class DWAPlannerROS : public nav_core::BaseLocalPlanner {
00067     public:
00071       DWAPlannerROS();
00072 
00079       void initialize(std::string name, tf::TransformListener* tf,
00080           costmap_2d::Costmap2DROS* costmap_ros);
00081 
00085       ~DWAPlannerROS();
00086 
00093       bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);
00094 
00095 
00102       bool dwaComputeVelocityCommands(tf::Stamped<tf::Pose>& global_pose, geometry_msgs::Twist& cmd_vel);
00103 
00109       bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
00110 
00115       bool isGoalReached();
00116 
00117 
00118 
00119       bool isInitialized() {
00120         return initialized_;
00121       }
00122 
00123     private:
00127       void reconfigureCB(DWAPlannerConfig &config, uint32_t level);
00128 
00129       void publishLocalPlan(std::vector<geometry_msgs::PoseStamped>& path);
00130 
00131       void publishGlobalPlan(std::vector<geometry_msgs::PoseStamped>& path);
00132 
00133       tf::TransformListener* tf_; 
00134 
00135       // for visualisation, publishers of global and local plan
00136       ros::Publisher g_plan_pub_, l_plan_pub_;
00137 
00138       base_local_planner::LocalPlannerUtil planner_util_;
00139 
00140       boost::shared_ptr<DWAPlanner> dp_; 
00141 
00142       costmap_2d::Costmap2DROS* costmap_ros_;
00143 
00144       dynamic_reconfigure::Server<DWAPlannerConfig> *dsrv_;
00145       dwa_local_planner::DWAPlannerConfig default_config_;
00146       bool setup_;
00147       tf::Stamped<tf::Pose> current_pose_;
00148 
00149       base_local_planner::LatchedStopRotateController latchedStopRotateController_;
00150 
00151 
00152       bool initialized_;
00153 
00154 
00155       base_local_planner::OdometryHelperRos odom_helper_;
00156       std::string odom_topic_;
00157   };
00158 };
00159 #endif


dwa_local_planner
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:59