mbf_abstract_core

This package provides common interfaces for navigation specific robot actions. It contains the AbstractPlanner, AbstractController and AbstractRecovery plugin interfaces. This interfaces have to be implemented by the plugins to make the plugin available for Move Base Flex. The abstract classes provides a meaningful interface enabling the planners, controllers and recovery behaviors to return information, e.g. why something went wrong. Derivided interfaces can, for example, provide methods to initialize the planner, controller or recovery with map representations like costmap_2d, grid_map or other representations.

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README

Move Base Flex Abstract Core {#mainpage}

The mbf_abstract_core package of Move Base Flex (MBF) contains the abstract interfaces for planning controlling and recovering. Derived packages of the mbf_abstract_nav should use derived interfaces of the mbf_abstract_core which then, for example, contain a method for initialization of the plugin, e.g. by handing over a pointer to the map representation of choice.

The plugins which are loaded by Move Base Flex (a derived package of the mbf_abstract_nav) have to implement derived interfaces of the interfaces which are defined in this package. The mbf_abstract_core::AbstractPlanner provides an interface for a planner plugin to plan global paths. The mbf_abstract_core::AbstractController provides an interface for a controller plugin to control and move a robot. The mbf_abstract_core::AbstractRecovery provides an interface for a recovery plugin to recover the robot in deadlocked situations.