The MeshNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseMeshPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base. More...

#include <mesh_navigation_server.h>

Inheritance diagram for mbf_mesh_nav::MeshNavigationServer:

[legend]

Public Types
typedef boost::shared_ptr< mesh_map::MeshMap >	MeshPtr

typedef boost::shared_ptr< MeshNavigationServer >	Ptr

Public Member Functions
	MeshNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor. More...

virtual void	stop ()

virtual	~MeshNavigationServer ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractNavigationServer
	AbstractNavigationServer (const TFPtr &tf_listener_ptr)

virtual void	callActionExePath (ActionServerExePath::GoalHandle goal_handle)

virtual void	callActionGetPath (ActionServerGetPath::GoalHandle goal_handle)

virtual void	callActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)

virtual void	callActionRecovery (ActionServerRecovery::GoalHandle goal_handle)

virtual void	cancelActionExePath (ActionServerExePath::GoalHandle goal_handle)

virtual void	cancelActionGetPath (ActionServerGetPath::GoalHandle goal_handle)

virtual void	cancelActionMoveBase (ActionServerMoveBase::GoalHandle goal_handle)

virtual void	cancelActionRecovery (ActionServerRecovery::GoalHandle goal_handle)

virtual void	initializeServerComponents ()

virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr &plugin_ptr)

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr &plugin_ptr)

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr &plugin_ptr)

virtual void	startActionServers ()

virtual	~AbstractNavigationServer ()

Private Member Functions
bool	callServiceCheckPathCost (mbf_msgs::CheckPath::Request &request, mbf_msgs::CheckPath::Response &response)
	Callback method for the check_path_cost service. More...

bool	callServiceCheckPoseCost (mbf_msgs::CheckPose::Request &request, mbf_msgs::CheckPose::Response &response)
	Callback method for the check_pose_cost service. More...

bool	callServiceClearMesh (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Callback method for the make_plan service. More...

virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the mesh. More...

virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Initializes the controller plugin with its name and pointer to the mesh. More...

virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Initializes a recovery behavior plugin with its name and pointers to the global and local meshs. More...

virtual mbf_abstract_core::AbstractController::Ptr	loadControllerPlugin (const std::string &controller_type)
	Loads the plugin associated with the given controller type parameter. More...

virtual mbf_abstract_core::AbstractPlanner::Ptr	loadPlannerPlugin (const std::string &planner_type)
	Loads the plugin associated with the given planner_type parameter. More...

virtual mbf_abstract_core::AbstractRecovery::Ptr	loadRecoveryPlugin (const std::string &recovery_type)
	Loads a Recovery plugin associated with given recovery type parameter. More...

virtual mbf_abstract_nav::AbstractControllerExecution::Ptr	newControllerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr)
	shared pointer to a new ControllerExecution More...

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr	newPlannerExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr)
	shared pointer to a new PlannerExecution More...

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr	newRecoveryExecution (const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr)
	shared pointer to a new RecoveryExecution More...

void	reconfigure (mbf_mesh_nav::MoveBaseFlexConfig &config, uint32_t level)
	Reconfiguration method called by dynamic reconfigure. More...

Private Attributes
boost::mutex	check_meshs_mutex_
	Start/stop meshs mutex; concurrent calls to start can lead to segfault. More...

ros::ServiceServer	check_path_cost_srv_
	Service Server for the check_path_cost service. More...

ros::ServiceServer	check_pose_cost_srv_
	Service Server for the check_pose_cost service. More...

ros::ServiceServer	clear_mesh_srv_
	Service Server to clear the mesh. More...

pluginlib::ClassLoader< mbf_mesh_core::MeshController >	controller_plugin_loader_
	plugin class loader for controller plugins More...

mbf_mesh_nav::MoveBaseFlexConfig	default_config_
	the default parameter configuration save More...

DynamicReconfigureServerMeshNav	dsrv_mesh_
	Dynamic reconfigure server for the mbf_mesh2d_specific part. More...

mbf_mesh_nav::MoveBaseFlexConfig	last_config_
	last configuration save More...

MeshPtr	mesh_ptr_
	Shared pointer to the common global mesh. More...

pluginlib::ClassLoader< mbf_mesh_core::MeshPlanner >	planner_plugin_loader_
	plugin class loader for planner plugins More...

pluginlib::ClassLoader< mbf_mesh_core::MeshRecovery >	recovery_plugin_loader_
	plugin class loader for recovery behaviors plugins More...

bool	setup_reconfigure_
	true, if the dynamic reconfigure has been setup More...

Additional Inherited Members
Protected Member Functions inherited from mbf_abstract_nav::AbstractNavigationServer
virtual void	reconfigure (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)

virtual void	startDynamicReconfigureServer ()

bool	transformPlanToGlobalFrame (std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)

Protected Attributes inherited from mbf_abstract_nav::AbstractNavigationServer
ActionServerExePathPtr	action_server_exe_path_ptr_

ActionServerGetPathPtr	action_server_get_path_ptr_

ActionServerMoveBasePtr	action_server_move_base_ptr_

ActionServerRecoveryPtr	action_server_recovery_ptr_

boost::mutex	configuration_mutex_

ControllerAction	controller_action_

AbstractPluginManager< mbf_abstract_core::AbstractController >	controller_plugin_manager_

mbf_abstract_nav::MoveBaseFlexConfig	default_config_

DynamicReconfigureServer	dsrv_

std::string	global_frame_

ros::Publisher	goal_pub_

mbf_abstract_nav::MoveBaseFlexConfig	last_config_

MoveBaseAction	move_base_action_

PlannerAction	planner_action_

AbstractPluginManager< mbf_abstract_core::AbstractPlanner >	planner_plugin_manager_

ros::NodeHandle	private_nh_

RecoveryAction	recovery_action_

AbstractPluginManager< mbf_abstract_core::AbstractRecovery >	recovery_plugin_manager_

std::string	robot_frame_

mbf_utility::RobotInformation	robot_info_

bool	setup_reconfigure_

const TFPtr	tf_listener_ptr_

ros::Duration	tf_timeout_

ros::Publisher	vel_pub_

Detailed Description

The MeshNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseMeshPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base.

Definition at line 73 of file mesh_navigation_server.h.

Member Typedef Documentation

◆ MeshPtr

typedef boost::shared_ptr<mesh_map::MeshMap> mbf_mesh_nav::MeshNavigationServer::MeshPtr

Definition at line 76 of file mesh_navigation_server.h.

◆ Ptr

typedef boost::shared_ptr<MeshNavigationServer> mbf_mesh_nav::MeshNavigationServer::Ptr

Definition at line 78 of file mesh_navigation_server.h.

Constructor & Destructor Documentation

◆ MeshNavigationServer()

mbf_mesh_nav::MeshNavigationServer::MeshNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor.

Parameters

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 47 of file mesh_navigation_server.cpp.

◆ ~MeshNavigationServer()

mbf_mesh_nav::MeshNavigationServer::~MeshNavigationServer ( )

virtual

Destructor.

Definition at line 228 of file mesh_navigation_server.cpp.

Member Function Documentation

◆ callServiceCheckPathCost()

bool mbf_mesh_nav::MeshNavigationServer::callServiceCheckPathCost	(	mbf_msgs::CheckPath::Request &	request,
		mbf_msgs::CheckPath::Response &	response
	)

private

Callback method for the check_path_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPath service definition file.
response	Response object, see the mbf_msgs/CheckPath service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 274 of file mesh_navigation_server.cpp.

◆ callServiceCheckPoseCost()

bool mbf_mesh_nav::MeshNavigationServer::callServiceCheckPoseCost	(	mbf_msgs::CheckPose::Request &	request,
		mbf_msgs::CheckPose::Response &	response
	)

private

Callback method for the check_pose_cost service.

Parameters

request	Request object, see the mbf_msgs/CheckPose service definition file.
response	Response object, see the mbf_msgs/CheckPose service definition file.

Returns: true, if the service completed successfully, false otherwise

Definition at line 267 of file mesh_navigation_server.cpp.

◆ callServiceClearMesh()

bool mbf_mesh_nav::MeshNavigationServer::callServiceClearMesh	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

private

Callback method for the make_plan service.

Parameters

request	Empty request object.
response	Empty response object.

Returns: true, if the service completed successfully, false otherwise

Definition at line 281 of file mesh_navigation_server.cpp.

◆ initializeControllerPlugin()

bool mbf_mesh_nav::MeshNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)

privatevirtual

Initializes the controller plugin with its name, a pointer to the TransformListener and pointer to the mesh.

Parameters

name	The name of the controller
controller_ptr	pointer to the controller object which corresponds to the name param

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 152 of file mesh_navigation_server.cpp.

◆ initializePlannerPlugin()

bool mbf_mesh_nav::MeshNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)

privatevirtual

Initializes the controller plugin with its name and pointer to the mesh.

Parameters

name	The name of the planner
planner_ptr	pointer to the planner object which corresponds to the name param

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 119 of file mesh_navigation_server.cpp.

◆ initializeRecoveryPlugin()

bool mbf_mesh_nav::MeshNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)

privatevirtual

Initializes a recovery behavior plugin with its name and pointers to the global and local meshs.

Parameters

name	The name of the recovery behavior
behavior_ptr	pointer to the recovery behavior object which corresponds to the name param

Returns: true if init succeeded, false otherwise

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 197 of file mesh_navigation_server.cpp.

◆ loadControllerPlugin()

mbf_abstract_core::AbstractController::Ptr mbf_mesh_nav::MeshNavigationServer::loadControllerPlugin ( const std::string & controller_type )

privatevirtual

Loads the plugin associated with the given controller type parameter.

Parameters

controller_type The type of the controller plugin

Returns: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 135 of file mesh_navigation_server.cpp.

◆ loadPlannerPlugin()

mbf_abstract_core::AbstractPlanner::Ptr mbf_mesh_nav::MeshNavigationServer::loadPlannerPlugin ( const std::string & planner_type )

privatevirtual

Loads the plugin associated with the given planner_type parameter.

Parameters

planner_type The type of the planner plugin to load.

Returns: true, if the local planner plugin was successfully loaded.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 100 of file mesh_navigation_server.cpp.

◆ loadRecoveryPlugin()

mbf_abstract_core::AbstractRecovery::Ptr mbf_mesh_nav::MeshNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type )

privatevirtual

Loads a Recovery plugin associated with given recovery type parameter.

Parameters

recovery_name The name of the Recovery plugin

Returns: A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 176 of file mesh_navigation_server.cpp.

◆ newControllerExecution()

mbf_abstract_nav::AbstractControllerExecution::Ptr mbf_mesh_nav::MeshNavigationServer::newControllerExecution	(	const std::string &	plugin_name,
		const mbf_abstract_core::AbstractController::Ptr	plugin_ptr
	)

privatevirtual

shared pointer to a new ControllerExecution

Definition at line 84 of file mesh_navigation_server.cpp.

◆ newPlannerExecution()

mbf_abstract_nav::AbstractPlannerExecution::Ptr mbf_mesh_nav::MeshNavigationServer::newPlannerExecution	(	const std::string &	plugin_name,
		const mbf_abstract_core::AbstractPlanner::Ptr	plugin_ptr
	)

privatevirtual

shared pointer to a new PlannerExecution

Definition at line 77 of file mesh_navigation_server.cpp.

◆ newRecoveryExecution()

mbf_abstract_nav::AbstractRecoveryExecution::Ptr mbf_mesh_nav::MeshNavigationServer::newRecoveryExecution	(	const std::string &	plugin_name,
		const mbf_abstract_core::AbstractRecovery::Ptr	plugin_ptr
	)

privatevirtual

shared pointer to a new RecoveryExecution

Definition at line 92 of file mesh_navigation_server.cpp.

◆ reconfigure()

void mbf_mesh_nav::MeshNavigationServer::reconfigure	(	mbf_mesh_nav::MoveBaseFlexConfig &	config,
		uint32_t	level
	)

private

Reconfiguration method called by dynamic reconfigure.

Parameters

config	Configuration parameters. See the MoveBaseFlexConfig definition.
level	bit mask, which parameters are set.

Definition at line 232 of file mesh_navigation_server.cpp.

◆ stop()

void mbf_mesh_nav::MeshNavigationServer::stop ( )

virtual

Reimplemented from mbf_abstract_nav::AbstractNavigationServer.

Definition at line 220 of file mesh_navigation_server.cpp.

Member Data Documentation

◆ check_meshs_mutex_

boost::mutex mbf_mesh_nav::MeshNavigationServer::check_meshs_mutex_

private

Start/stop meshs mutex; concurrent calls to start can lead to segfault.

Definition at line 233 of file mesh_navigation_server.h.

◆ check_path_cost_srv_

ros::ServiceServer mbf_mesh_nav::MeshNavigationServer::check_path_cost_srv_

private

Service Server for the check_path_cost service.

Definition at line 230 of file mesh_navigation_server.h.

◆ check_pose_cost_srv_

ros::ServiceServer mbf_mesh_nav::MeshNavigationServer::check_pose_cost_srv_

private

Service Server for the check_pose_cost service.

Definition at line 227 of file mesh_navigation_server.h.

◆ clear_mesh_srv_

ros::ServiceServer mbf_mesh_nav::MeshNavigationServer::clear_mesh_srv_

private

Service Server to clear the mesh.

Definition at line 224 of file mesh_navigation_server.h.

◆ controller_plugin_loader_

pluginlib::ClassLoader<mbf_mesh_core::MeshController> mbf_mesh_nav::MeshNavigationServer::controller_plugin_loader_

private

plugin class loader for controller plugins

Definition at line 203 of file mesh_navigation_server.h.

◆ default_config_

mbf_mesh_nav::MoveBaseFlexConfig mbf_mesh_nav::MeshNavigationServer::default_config_

private

the default parameter configuration save

Definition at line 215 of file mesh_navigation_server.h.

◆ dsrv_mesh_

DynamicReconfigureServerMeshNav mbf_mesh_nav::MeshNavigationServer::dsrv_mesh_

private

Dynamic reconfigure server for the mbf_mesh2d_specific part.

Definition at line 209 of file mesh_navigation_server.h.

◆ last_config_

mbf_mesh_nav::MoveBaseFlexConfig mbf_mesh_nav::MeshNavigationServer::last_config_

private

last configuration save

Definition at line 212 of file mesh_navigation_server.h.

◆ mesh_ptr_

MeshPtr mbf_mesh_nav::MeshNavigationServer::mesh_ptr_

private

Shared pointer to the common global mesh.

Definition at line 221 of file mesh_navigation_server.h.

◆ planner_plugin_loader_

pluginlib::ClassLoader<mbf_mesh_core::MeshPlanner> mbf_mesh_nav::MeshNavigationServer::planner_plugin_loader_

private

plugin class loader for planner plugins

Definition at line 206 of file mesh_navigation_server.h.

◆ recovery_plugin_loader_

pluginlib::ClassLoader<mbf_mesh_core::MeshRecovery> mbf_mesh_nav::MeshNavigationServer::recovery_plugin_loader_

private

plugin class loader for recovery behaviors plugins

Definition at line 200 of file mesh_navigation_server.h.

◆ setup_reconfigure_

bool mbf_mesh_nav::MeshNavigationServer::setup_reconfigure_

private

true, if the dynamic reconfigure has been setup

Definition at line 218 of file mesh_navigation_server.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MeshPtr

◆ Ptr

Constructor & Destructor Documentation

◆ MeshNavigationServer()

◆ ~MeshNavigationServer()

Member Function Documentation

◆ callServiceCheckPathCost()

◆ callServiceCheckPoseCost()

◆ callServiceClearMesh()

◆ initializeControllerPlugin()

◆ initializePlannerPlugin()

◆ initializeRecoveryPlugin()

◆ loadControllerPlugin()

◆ loadPlannerPlugin()

◆ loadRecoveryPlugin()

◆ newControllerExecution()

◆ newPlannerExecution()

◆ newRecoveryExecution()

◆ reconfigure()

◆ stop()

Member Data Documentation

◆ check_meshs_mutex_

◆ check_path_cost_srv_

◆ check_pose_cost_srv_

◆ clear_mesh_srv_

◆ controller_plugin_loader_

◆ default_config_

◆ dsrv_mesh_

◆ last_config_

◆ mesh_ptr_

◆ planner_plugin_loader_

◆ recovery_plugin_loader_

◆ setup_reconfigure_