A local planner plugin for move_base of ROS, for car like robots. More...

#include <rsband_local_planner_ros.h>

Inheritance diagram for rsband_local_planner::RSBandPlannerROS:

Public Types
enum	EbandToRSStrategy { startToEnd, startToNext, pointToPoint, skipFailures, startToRecedingEnd }
	eband to rs planning strategy enum More...

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd)
	Computes the velocity command for the robot base. More...

void	initialize (std::string name, tf::TransformListener tfListener, costmap_2d::Costmap2DROS costmapROS)
	Initializes planner. More...

bool	isGoalReached ()
	Checks whether the goal is reached. More...

	RSBandPlannerROS ()
	Constructor. More...

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &globalPlan)
	Sets the global plan to be followed by this planner. More...

	~RSBandPlannerROS ()
	Destructor. More...

Private Types
typedef dynamic_reconfigure::Server < rsband_local_planner::RSBandPlannerConfig >	drs

Private Member Functions
bool	emergencyPlan (std::vector< geometry_msgs::PoseStamped > &ebandPlan, std::vector< geometry_msgs::PoseStamped > &emergencyPlan)
	Attempts an emergency plan in case actual plan failed. More...

void	interpolateOrientations (std::vector< geometry_msgs::PoseStamped > &plan)
	Interpolates pose orientations of the given plan. More...

void	reconfigureCallback (RSBandPlannerConfig &config, uint32_t level)
	Reconfigures node parameters. More...

bool	updateEBand ()
	Updates eband. More...

Private Attributes
costmap_2d::Costmap2DROS *	costmapROS_
	costmap ROS wrapper ptr More...

boost::shared_ptr< drs >	drs_
	dynamic reconfigure server ptr More...

boost::shared_ptr < eband_local_planner::EBandPlanner >	ebandPlanner_
	eband planner ptr More...

ros::Publisher	ebandPlanPub_
	eband plan publisher More...

EbandToRSStrategy	ebandToRSStrategy_
	eband to reeds shepp band conversion strategy More...

bool	emergencyMode_
	emergency plan poses More...

bool	emergencyPlanning_
	emergency mode More...

std::vector < geometry_msgs::PoseStamped >	emergencyPoses_

std::vector < geometry_msgs::PoseStamped >	globalPlan_
	global plan More...

ros::Publisher	globalPlanPub_
	global plan publisher More...

bool	initialized_

ros::Publisher	localPlanPub_
	local plan publisher More...

std::vector< int >	planStartEndCounters_
	eband plan start and end indexes regarding global plan More...

boost::shared_ptr< FuzzyPTC >	ptc_
	path tracking controller ptr More...

boost::shared_ptr < ReedsSheppPlanner >	rsPlanner_
	reeds shepp planner ptr More...

ros::Publisher	rsPlanPub_
	rs plan publisher More...

tf::TransformListener *	tfListener_
	tf transform listener ptr More...

std::vector < geometry_msgs::PoseStamped >	transformedPlan_
	transformed plan More...

double	updateSubGoalDistThreshold_
	dist threshold used when updating sub goal More...

double	xyGoalTolerance_
	distance to goal tolerance More...

double	yawGoalTolerance_
	angular deviation from goal pose tolerance More...

Detailed Description

A local planner plugin for move_base of ROS, for car like robots.

Definition at line 63 of file rsband_local_planner_ros.h.

Member Typedef Documentation

typedef dynamic_reconfigure::Server< rsband_local_planner::RSBandPlannerConfig> rsband_local_planner::RSBandPlannerROS::drs

private

Definition at line 150 of file rsband_local_planner_ros.h.

Member Enumeration Documentation

enum rsband_local_planner::RSBandPlannerROS::EbandToRSStrategy

eband to rs planning strategy enum

Enumerator
startToEnd
startToNext
pointToPoint
skipFailures
startToRecedingEnd

Definition at line 108 of file rsband_local_planner_ros.h.

Constructor & Destructor Documentation

rsband_local_planner::RSBandPlannerROS::RSBandPlannerROS ( )

Constructor.

Definition at line 50 of file rsband_local_planner_ros.cpp.

rsband_local_planner::RSBandPlannerROS::~RSBandPlannerROS ( )

Destructor.

Definition at line 55 of file rsband_local_planner_ros.cpp.

Member Function Documentation

bool rsband_local_planner::RSBandPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd )

Computes the velocity command for the robot base.

Parameters

cmd	The computed command container

Returns: true if a cmd was computed successfully

Definition at line 180 of file rsband_local_planner_ros.cpp.

bool rsband_local_planner::RSBandPlannerROS::emergencyPlan	(	std::vector< geometry_msgs::PoseStamped > &	ebandPlan,
		std::vector< geometry_msgs::PoseStamped > &	emergencyPlan
	)

private

Attempts an emergency plan in case actual plan failed.

Parameters

ebandPlan	the eband plan
emergencyPlan	the emergency plan container

Returns: true if emergency planning succeeds

Definition at line 437 of file rsband_local_planner_ros.cpp.

void rsband_local_planner::RSBandPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tfListener,
		costmap_2d::Costmap2DROS *	costmapROS
	)

Initializes planner.

Parameters

name	The name of the planner
tfListener	ptr to a tf transform listener
costmapROS	ptr to a costmap ros wrapper

Definition at line 60 of file rsband_local_planner_ros.cpp.

void rsband_local_planner::RSBandPlannerROS::interpolateOrientations ( std::vector< geometry_msgs::PoseStamped > & plan )

private

Interpolates pose orientations of the given plan.

Parameters

plan	The plan, for which to interpolate the poses

Definition at line 464 of file rsband_local_planner_ros.cpp.

bool rsband_local_planner::RSBandPlannerROS::isGoalReached ( )

Checks whether the goal is reached.

Returns: true if goal is reached

Definition at line 324 of file rsband_local_planner_ros.cpp.

void rsband_local_planner::RSBandPlannerROS::reconfigureCallback	(	RSBandPlannerConfig &	config,
		uint32_t	level
	)

private

Reconfigures node parameters.

Parameters

config	The dynamic reconfigure node configuration
level	reconfiguration level

Definition at line 108 of file rsband_local_planner_ros.cpp.

bool rsband_local_planner::RSBandPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > & globalPlan )

Sets the global plan to be followed by this planner.

Parameters

globalPlan The plan to follow

Returns: true if plan was set successfully

Definition at line 132 of file rsband_local_planner_ros.cpp.

bool rsband_local_planner::RSBandPlannerROS::updateEBand ( )

private

Updates eband.

Prunes the eband and adds new target frames

Returns: true if eband was updated successfully

Definition at line 356 of file rsband_local_planner_ros.cpp.

Member Data Documentation

costmap_2d::Costmap2DROS* rsband_local_planner::RSBandPlannerROS::costmapROS_

private

costmap ROS wrapper ptr

Definition at line 157 of file rsband_local_planner_ros.h.

boost::shared_ptr<drs> rsband_local_planner::RSBandPlannerROS::drs_

private

dynamic reconfigure server ptr

Definition at line 152 of file rsband_local_planner_ros.h.

boost::shared_ptr<eband_local_planner::EBandPlanner> rsband_local_planner::RSBandPlannerROS::ebandPlanner_

private

eband planner ptr

Definition at line 160 of file rsband_local_planner_ros.h.

ros::Publisher rsband_local_planner::RSBandPlannerROS::ebandPlanPub_

private

eband plan publisher

Definition at line 189 of file rsband_local_planner_ros.h.

EbandToRSStrategy rsband_local_planner::RSBandPlannerROS::ebandToRSStrategy_

private

eband to reeds shepp band conversion strategy

determines whether emergency planning will be used in case of failure

Definition at line 174 of file rsband_local_planner_ros.h.

bool rsband_local_planner::RSBandPlannerROS::emergencyMode_

private

emergency plan poses

Definition at line 179 of file rsband_local_planner_ros.h.

bool rsband_local_planner::RSBandPlannerROS::emergencyPlanning_

private

emergency mode

Definition at line 177 of file rsband_local_planner_ros.h.

std::vector<geometry_msgs::PoseStamped> rsband_local_planner::RSBandPlannerROS::emergencyPoses_

private

Definition at line 181 of file rsband_local_planner_ros.h.

std::vector<geometry_msgs::PoseStamped> rsband_local_planner::RSBandPlannerROS::globalPlan_

private

global plan

Definition at line 194 of file rsband_local_planner_ros.h.

ros::Publisher rsband_local_planner::RSBandPlannerROS::globalPlanPub_

private

global plan publisher

Definition at line 185 of file rsband_local_planner_ros.h.

bool rsband_local_planner::RSBandPlannerROS::initialized_

private

Definition at line 201 of file rsband_local_planner_ros.h.

ros::Publisher rsband_local_planner::RSBandPlannerROS::localPlanPub_

private

local plan publisher

Definition at line 187 of file rsband_local_planner_ros.h.

std::vector<int> rsband_local_planner::RSBandPlannerROS::planStartEndCounters_

private

eband plan start and end indexes regarding global plan

Definition at line 199 of file rsband_local_planner_ros.h.

boost::shared_ptr<FuzzyPTC> rsband_local_planner::RSBandPlannerROS::ptc_

private

path tracking controller ptr

Definition at line 164 of file rsband_local_planner_ros.h.

boost::shared_ptr<ReedsSheppPlanner> rsband_local_planner::RSBandPlannerROS::rsPlanner_

private

reeds shepp planner ptr

Definition at line 162 of file rsband_local_planner_ros.h.

ros::Publisher rsband_local_planner::RSBandPlannerROS::rsPlanPub_

private

rs plan publisher

Definition at line 191 of file rsband_local_planner_ros.h.

tf::TransformListener* rsband_local_planner::RSBandPlannerROS::tfListener_

private

tf transform listener ptr

Definition at line 155 of file rsband_local_planner_ros.h.

std::vector<geometry_msgs::PoseStamped> rsband_local_planner::RSBandPlannerROS::transformedPlan_

private

transformed plan

Definition at line 196 of file rsband_local_planner_ros.h.

double rsband_local_planner::RSBandPlannerROS::updateSubGoalDistThreshold_

private

dist threshold used when updating sub goal

Definition at line 171 of file rsband_local_planner_ros.h.

double rsband_local_planner::RSBandPlannerROS::xyGoalTolerance_

private

distance to goal tolerance

Definition at line 167 of file rsband_local_planner_ros.h.

double rsband_local_planner::RSBandPlannerROS::yawGoalTolerance_

private

angular deviation from goal pose tolerance

Definition at line 169 of file rsband_local_planner_ros.h.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation