#include <locomove_base.h>

Public Member Functions
	LocoMoveBase (const ros::NodeHandle &nh)

void	resetState ()

void	setGoal (nav_2d_msgs::Pose2DStamped goal)

Protected Member Functions
void	controlLoopCallback (const ros::TimerEvent &event)

void	executeCB ()

costmap_2d::Costmap2DROS *	getCostmapPointer (const nav_core2::Costmap::Ptr &costmap)

void	goalCB (const geometry_msgs::PoseStamped::ConstPtr &goal)

void	loadDefaultRecoveryBehaviors ()
	Loads the default recovery behaviors for the navigation stack. More...

bool	loadRecoveryBehaviors (ros::NodeHandle node)
	Load the recovery behaviors for the navigation stack from the parameter server. More...

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	planLoopCallback (const ros::TimerEvent &event)

void	publishZeroVelocity ()

void	recovery ()

void	requestGlobalCostmapUpdate ()

void	requestNavigationFailure (const locomotor_msgs::ResultCode &result)

Protected Attributes
ros::Timer	control_loop_timer_

costmap_2d::Costmap2DROS *	controller_costmap_ros_

double	controller_frequency_ { 20.0 }

double	controller_patience_ { 15.0 }

ros::Duration	desired_control_duration_

ros::Duration	desired_plan_duration_

locomotor::Executor	global_planning_ex_

ros::Publisher	goal_pub_

ros::Subscriber	goal_sub_

bool	has_global_plan_

ros::Time	last_oscillation_reset_

ros::Time	last_valid_control_

ros::Time	last_valid_plan_

locomotor::Executor	local_planning_ex_

locomotor::Locomotor	locomotor_

int	max_planning_retries_ {-1}

double	oscillation_distance_ {0.5}

geometry_msgs::Pose2D	oscillation_pose_

double	oscillation_timeout_ {0.0}

ros::Timer	plan_loop_timer_

costmap_2d::Costmap2DROS *	planner_costmap_ros_

double	planner_frequency_ { 10.0 }

double	planner_patience_ { 5.0 }

int	planning_retries_

ros::NodeHandle	private_nh_

bool	recovery_behavior_enabled_ { true }

std::vector< boost::shared_ptr< nav_core::RecoveryBehavior > >	recovery_behaviors_

unsigned int	recovery_index_

pluginlib::ClassLoader< nav_core::RecoveryBehavior >	recovery_loader_

RecoveryTrigger	recovery_trigger_

actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >	server_

Detailed Description

Definition at line 52 of file locomove_base.h.

Constructor & Destructor Documentation

locomove_base::LocoMoveBase::LocoMoveBase ( const ros::NodeHandle & nh )

explicit

Definition at line 153 of file locomove_base.cpp.

Member Function Documentation

void locomove_base::LocoMoveBase::controlLoopCallback ( const ros::TimerEvent & event )

protected

Definition at line 332 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::executeCB ( )

protected

Definition at line 625 of file locomove_base.cpp.

costmap_2d::Costmap2DROS * locomove_base::LocoMoveBase::getCostmapPointer ( const nav_core2::Costmap::Ptr & costmap )

protected

Definition at line 226 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::goalCB ( const geometry_msgs::PoseStamped::ConstPtr & goal )

protected

Definition at line 620 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::loadDefaultRecoveryBehaviors ( )

protected

Loads the default recovery behaviors for the navigation stack.

Definition at line 573 of file locomove_base.cpp.

bool locomove_base::LocoMoveBase::loadRecoveryBehaviors ( ros::NodeHandle node )

protected

Load the recovery behaviors for the navigation stack from the parameter server.

Parameters

node	The ros::NodeHandle to be used for loading parameters

Returns: True if the recovery behaviors were loaded successfully, false otherwise

Definition at line 488 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onGlobalCostmapException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)

protected

Definition at line 284 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onGlobalCostmapUpdate ( const ros::Duration & planning_time )

protected

Definition at line 276 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onGlobalPlanningException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)

protected

Definition at line 314 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onLocalCostmapException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)

protected

Definition at line 355 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onLocalCostmapUpdate ( const ros::Duration & planning_time )

protected

Definition at line 339 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onLocalPlanningException	(	nav_core2::NavCore2ExceptionPtr	e_ptr,
		const ros::Duration &	planning_time
	)

protected

Definition at line 397 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onNavigationCompleted ( )

protected

Definition at line 415 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onNavigationFailure ( const locomotor_msgs::ResultCode result )

protected

Definition at line 426 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onNewGlobalPlan	(	nav_2d_msgs::Path2D	new_global_plan,
		const ros::Duration &	planning_time
	)

protected

Definition at line 294 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::onNewLocalPlan	(	nav_2d_msgs::Twist2DStamped	new_command,
		const ros::Duration &	planning_time
	)

protected

Definition at line 362 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::planLoopCallback ( const ros::TimerEvent & event )

protected

Definition at line 264 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::publishZeroVelocity ( )

protected

Definition at line 253 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::recovery ( )

protected

Definition at line 436 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::requestGlobalCostmapUpdate ( )

protected

Definition at line 269 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::requestNavigationFailure ( const locomotor_msgs::ResultCode & result )

protected

Definition at line 258 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::resetState ( )

Definition at line 239 of file locomove_base.cpp.

void locomove_base::LocoMoveBase::setGoal ( nav_2d_msgs::Pose2DStamped goal )

Definition at line 211 of file locomove_base.cpp.

Member Data Documentation

ros::Timer locomove_base::LocoMoveBase::control_loop_timer_

protected

Definition at line 118 of file locomove_base.h.

costmap_2d::Costmap2DROS* locomove_base::LocoMoveBase::controller_costmap_ros_

protected

Definition at line 138 of file locomove_base.h.

double locomove_base::LocoMoveBase::controller_frequency_ { 20.0 }

protected

Definition at line 116 of file locomove_base.h.

double locomove_base::LocoMoveBase::controller_patience_ { 15.0 }

protected

Definition at line 125 of file locomove_base.h.

ros::Duration locomove_base::LocoMoveBase::desired_control_duration_

protected

Definition at line 117 of file locomove_base.h.

ros::Duration locomove_base::LocoMoveBase::desired_plan_duration_

protected

Definition at line 117 of file locomove_base.h.

locomotor::Executor locomove_base::LocoMoveBase::global_planning_ex_

protected

Definition at line 121 of file locomove_base.h.

ros::Publisher locomove_base::LocoMoveBase::goal_pub_

protected

Definition at line 141 of file locomove_base.h.

ros::Subscriber locomove_base::LocoMoveBase::goal_sub_

protected

Definition at line 102 of file locomove_base.h.

bool locomove_base::LocoMoveBase::has_global_plan_

protected

Definition at line 124 of file locomove_base.h.

ros::Time locomove_base::LocoMoveBase::last_oscillation_reset_

protected

Definition at line 132 of file locomove_base.h.

ros::Time locomove_base::LocoMoveBase::last_valid_control_

protected

Definition at line 126 of file locomove_base.h.

ros::Time locomove_base::LocoMoveBase::last_valid_plan_

protected

Definition at line 126 of file locomove_base.h.

locomotor::Executor locomove_base::LocoMoveBase::local_planning_ex_

protected

Definition at line 121 of file locomove_base.h.

locomotor::Locomotor locomove_base::LocoMoveBase::locomotor_

protected

Definition at line 98 of file locomove_base.h.

int locomove_base::LocoMoveBase::max_planning_retries_ {-1}

protected

Definition at line 127 of file locomove_base.h.

double locomove_base::LocoMoveBase::oscillation_distance_ {0.5}

protected

Definition at line 131 of file locomove_base.h.

geometry_msgs::Pose2D locomove_base::LocoMoveBase::oscillation_pose_

protected

Definition at line 133 of file locomove_base.h.

double locomove_base::LocoMoveBase::oscillation_timeout_ {0.0}

protected

Definition at line 131 of file locomove_base.h.

ros::Timer locomove_base::LocoMoveBase::plan_loop_timer_

protected

Definition at line 118 of file locomove_base.h.

costmap_2d::Costmap2DROS* locomove_base::LocoMoveBase::planner_costmap_ros_

protected

Definition at line 137 of file locomove_base.h.

double locomove_base::LocoMoveBase::planner_frequency_ { 10.0 }

protected

Definition at line 116 of file locomove_base.h.

double locomove_base::LocoMoveBase::planner_patience_ { 5.0 }

protected

Definition at line 125 of file locomove_base.h.

int locomove_base::LocoMoveBase::planning_retries_

protected

Definition at line 127 of file locomove_base.h.

ros::NodeHandle locomove_base::LocoMoveBase::private_nh_

protected

Definition at line 97 of file locomove_base.h.

bool locomove_base::LocoMoveBase::recovery_behavior_enabled_ { true }

protected

Definition at line 113 of file locomove_base.h.

std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > locomove_base::LocoMoveBase::recovery_behaviors_

protected

Definition at line 111 of file locomove_base.h.

unsigned int locomove_base::LocoMoveBase::recovery_index_

protected

Definition at line 112 of file locomove_base.h.

pluginlib::ClassLoader<nav_core::RecoveryBehavior> locomove_base::LocoMoveBase::recovery_loader_

protected

Definition at line 110 of file locomove_base.h.

RecoveryTrigger locomove_base::LocoMoveBase::recovery_trigger_

protected

Definition at line 109 of file locomove_base.h.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> locomove_base::LocoMoveBase::server_

protected

Definition at line 106 of file locomove_base.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation