This class provides publishing methods for common messages. More...

#include <publisher.h>

Public Member Functions
void	initialize (ros::NodeHandle &nh, RobotDynamicsInterface::Ptr system, const std::string &map_frame)
	Initializes the class and registers topics. More...

	Publisher ()=default
	Default constructor. More...

	Publisher (ros::NodeHandle &nh, RobotDynamicsInterface::Ptr system, const std::string &map_frame)
	Constructor that initializes the class and registers topics. More...

void	publishGlobalPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan) const
	Publish a given global plan to the ros topic ../../global_plan. More...

void	publishLocalPlan (const std::vector< geometry_msgs::PoseStamped > &local_plan) const
	Publish a given local plan to the ros topic ../../local_plan. More...

void	publishLocalPlan (const corbo::TimeSeries &ts) const
	Publish a given local plan to the ros topic ../../local_plan. More...

void	publishObstacles (const teb_local_planner::ObstContainer &obstacles) const
	Publish obstacle positions to the ros topic ../../mpc_markers. More...

void	publishRobotFootprintModel (const teb_local_planner::PoseSE2 &current_pose, const teb_local_planner::BaseRobotFootprintModel &robot_model, const std::string &ns="RobotFootprintModel", const std_msgs::ColorRGBA &color=toColorMsg(0.5, 0.0, 0.8, 0.0))
	Publish the visualization of the robot model. More...

void	publishViaPoints (const std::vector< teb_local_planner::PoseSE2 > &via_points, const std::string &ns="ViaPoints") const
	Publish via-points to the ros topic ../../teb_markers. More...

Static Public Member Functions
static std_msgs::ColorRGBA	toColorMsg (float a, float r, float g, float b)
	Helper function to generate a color message from single values. More...

Private Types
using	CircularObstacle = teb_local_planner::CircularObstacle

using	LineObstacle = teb_local_planner::LineObstacle

using	ObstaclePtr = teb_local_planner::ObstaclePtr

using	ObstContainer = teb_local_planner::ObstContainer

using	Point2dContainer = teb_local_planner::Point2dContainer

using	PointObstacle = teb_local_planner::PointObstacle

using	PolygonObstacle = teb_local_planner::PolygonObstacle

Private Attributes
ros::Publisher	_global_plan_pub

bool	_initialized = false

ros::Publisher	_local_plan_pub

std::string	_map_frame = "map"

ros::Publisher	_mpc_marker_pub

RobotDynamicsInterface::Ptr	_system

Detailed Description

This class provides publishing methods for common messages.

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 46 of file publisher.h.

Member Typedef Documentation

◆ CircularObstacle

using mpc_local_planner::Publisher::CircularObstacle = teb_local_planner::CircularObstacle

private

Definition at line 51 of file publisher.h.

◆ LineObstacle

using mpc_local_planner::Publisher::LineObstacle = teb_local_planner::LineObstacle

private

Definition at line 52 of file publisher.h.

◆ ObstaclePtr

using mpc_local_planner::Publisher::ObstaclePtr = teb_local_planner::ObstaclePtr

private

Definition at line 48 of file publisher.h.

◆ ObstContainer

using mpc_local_planner::Publisher::ObstContainer = teb_local_planner::ObstContainer

private

Definition at line 49 of file publisher.h.

◆ Point2dContainer

using mpc_local_planner::Publisher::Point2dContainer = teb_local_planner::Point2dContainer

private

Definition at line 54 of file publisher.h.

◆ PointObstacle

using mpc_local_planner::Publisher::PointObstacle = teb_local_planner::PointObstacle

private

Definition at line 50 of file publisher.h.

◆ PolygonObstacle

using mpc_local_planner::Publisher::PolygonObstacle = teb_local_planner::PolygonObstacle

private

Definition at line 53 of file publisher.h.

Constructor & Destructor Documentation

◆ Publisher() [1/2]

mpc_local_planner::Publisher::Publisher ( )

default

Default constructor.

Remarks: do not forget to call initialize()

◆ Publisher() [2/2]

mpc_local_planner::Publisher::Publisher	(	ros::NodeHandle &	nh,
		RobotDynamicsInterface::Ptr	system,
		const std::string &	map_frame
	)

Constructor that initializes the class and registers topics.

Parameters

[in]	nh	local ros::NodeHandle
[in]	map_frame	the planning frame name

Definition at line 41 of file publisher.cpp.

Member Function Documentation

◆ initialize()

void mpc_local_planner::Publisher::initialize	(	ros::NodeHandle &	nh,
		RobotDynamicsInterface::Ptr	system,
		const std::string &	map_frame
	)

Initializes the class and registers topics.

Call this function if only the default constructor has been called before.

Parameters

[in]	nh	local ros::NodeHandle
[in]	map_frame	the planning frame name

Definition at line 43 of file publisher.cpp.

◆ publishGlobalPlan()

void mpc_local_planner::Publisher::publishGlobalPlan ( const std::vector< geometry_msgs::PoseStamped > & global_plan ) const

Publish a given global plan to the ros topic ../../global_plan.

Parameters

[in] global_plan Pose array describing the global plan

Definition at line 78 of file publisher.cpp.

◆ publishLocalPlan() [1/2]

void mpc_local_planner::Publisher::publishLocalPlan ( const std::vector< geometry_msgs::PoseStamped > & local_plan ) const

Publish a given local plan to the ros topic ../../local_plan.

Parameters

[in] local_plan Pose array describing the local plan

Definition at line 58 of file publisher.cpp.

◆ publishLocalPlan() [2/2]

void mpc_local_planner::Publisher::publishLocalPlan ( const corbo::TimeSeries & ts ) const

Publish a given local plan to the ros topic ../../local_plan.

Parameters

[in] local_plan Pose array describing the local plan

Definition at line 64 of file publisher.cpp.

◆ publishObstacles()

void mpc_local_planner::Publisher::publishObstacles ( const teb_local_planner::ObstContainer & obstacles ) const

Publish obstacle positions to the ros topic ../../mpc_markers.

Todo:: Move filling of the marker message to polygon class in order to avoid checking types.

Parameters

[in] obstacles Obstacle container

Definition at line 107 of file publisher.cpp.

◆ publishRobotFootprintModel()

void mpc_local_planner::Publisher::publishRobotFootprintModel	(	const teb_local_planner::PoseSE2 &	current_pose,
		const teb_local_planner::BaseRobotFootprintModel &	robot_model,
		const std::string &	ns = `"RobotFootprintModel"`,
		const std_msgs::ColorRGBA &	color = `toColorMsg(0.5, 0.0, 0.8, 0.0)`
	)

Publish the visualization of the robot model.

Parameters

[in]	current_pose	Current pose of the robot
[in]	robot_model	Subclass of BaseRobotFootprintModel
[in]	map_frame	frame name for the msg header
[in]	ns	Namespace for the marker objects
[in]	color	Color of the footprint

Definition at line 84 of file publisher.cpp.

◆ publishViaPoints()

void mpc_local_planner::Publisher::publishViaPoints	(	const std::vector< teb_local_planner::PoseSE2 > &	via_points,
		const std::string &	ns = `"ViaPoints"`
	)		const

Publish via-points to the ros topic ../../teb_markers.

Todo:: add option to switch between points and poses (including orientation) to be published

Parameters

[in]	via_points	via-point container
[in]	ns	marker namespace

Definition at line 234 of file publisher.cpp.

◆ toColorMsg()

std_msgs::ColorRGBA mpc_local_planner::Publisher::toColorMsg	(	float	a,
		float	r,
		float	g,
		float	b
	)

static

Helper function to generate a color message from single values.

Parameters

[in]	a	Alpha value
[in]	r	Red value
[in]	g	Green value
[in]	b	Blue value

Returns: Color message

Definition at line 266 of file publisher.cpp.

Member Data Documentation

◆ _global_plan_pub

ros::Publisher mpc_local_planner::Publisher::_global_plan_pub

private

Definition at line 144 of file publisher.h.

◆ _initialized

bool mpc_local_planner::Publisher::_initialized = false

private

Definition at line 137 of file publisher.h.

◆ _local_plan_pub

ros::Publisher mpc_local_planner::Publisher::_local_plan_pub

private

Definition at line 143 of file publisher.h.

◆ _map_frame

std::string mpc_local_planner::Publisher::_map_frame = "map"

private

Definition at line 139 of file publisher.h.

◆ _mpc_marker_pub

ros::Publisher mpc_local_planner::Publisher::_mpc_marker_pub

private

Definition at line 145 of file publisher.h.

◆ _system

RobotDynamicsInterface::Ptr mpc_local_planner::Publisher::_system

private

Definition at line 141 of file publisher.h.

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

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CircularObstacle

◆ LineObstacle

◆ ObstaclePtr

◆ ObstContainer

◆ Point2dContainer

◆ PointObstacle

◆ PolygonObstacle

Constructor & Destructor Documentation

◆ Publisher() [1/2]

◆ Publisher() [2/2]

Member Function Documentation

◆ initialize()

◆ publishGlobalPlan()

◆ publishLocalPlan() [1/2]

◆ publishLocalPlan() [2/2]

◆ publishObstacles()

◆ publishRobotFootprintModel()

◆ publishViaPoints()

◆ toColorMsg()

Member Data Documentation

◆ _global_plan_pub

◆ _initialized

◆ _local_plan_pub

◆ _map_frame

◆ _mpc_marker_pub

◆ _system