Plugin-based flexible controller. More...

#include <nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp>

Inheritance diagram for dwb_core::DWBLocalPlanner:

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Public Member Functions
	DWBLocalPlanner ()
	Constructor that brings up pluginlib loaders.

void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override

void	activate () override
	Activate lifecycle node.

void	deactivate () override
	Deactivate lifecycle node.

void	cleanup () override
	Cleanup lifecycle node.

void	setPlan (const nav_msgs::msg::Path &path) override
	nav2_core setPlan - Sets the global plan More...

geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::Twist &velocity, nav2_core::GoalChecker *) override
	nav2_core computeVelocityCommands - calculates the best command given the current pose and velocity More...

virtual dwb_msgs::msg::TrajectoryScore	scoreTrajectory (const dwb_msgs::msg::Trajectory2D &traj, double best_score=-1)
	Score a given command. Can be used for testing. More...

virtual nav_2d_msgs::msg::Twist2DStamped	computeVelocityCommands (const nav_2d_msgs::msg::Pose2DStamped &pose, const nav_2d_msgs::msg::Twist2D &velocity, std::shared_ptr< dwb_msgs::msg::LocalPlanEvaluation > &results)
	Compute the best command given the current pose and velocity, with possible debug information. More...

void	setSpeedLimit (const double &speed_limit, const bool &percentage) override
	Limits the maximum linear speed of the robot. More...

Public Member Functions inherited from nav2_core::Controller
virtual	~Controller ()
	Virtual destructor.

Protected Member Functions
void	prepareGlobalPlan (const nav_2d_msgs::msg::Pose2DStamped &pose, nav_2d_msgs::msg::Path2D &transformed_plan, nav_2d_msgs::msg::Pose2DStamped &goal_pose, bool publish_plan=true)
	Helper method for two common operations for the operating on the global_plan. More...

virtual dwb_msgs::msg::TrajectoryScore	coreScoringAlgorithm (const geometry_msgs::msg::Pose2D &pose, const nav_2d_msgs::msg::Twist2D velocity, std::shared_ptr< dwb_msgs::msg::LocalPlanEvaluation > &results)
	Iterate through all the twists and find the best one.

virtual nav_2d_msgs::msg::Path2D	transformGlobalPlan (const nav_2d_msgs::msg::Pose2DStamped &pose)
	Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses. More...

std::string	resolveCriticClassName (std::string base_name)
	try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic" More...

virtual void	loadCritics ()
	Load the critic parameters from the namespace. More...

Protected Attributes
nav_2d_msgs::msg::Path2D	global_plan_
	Saved Global Plan.

bool	prune_plan_

double	prune_distance_

bool	debug_trajectory_details_

rclcpp::Duration	transform_tolerance_ {0, 0}

bool	shorten_transformed_plan_

double	forward_prune_distance_

rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_ {rclcpp::get_logger("DWBLocalPlanner")}

std::shared_ptr< tf2_ros::Buffer >	tf_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

std::unique_ptr< DWBPublisher >	pub_

std::vector< std::string >	default_critic_namespaces_

pluginlib::ClassLoader< TrajectoryGenerator >	traj_gen_loader_

TrajectoryGenerator::Ptr	traj_generator_

pluginlib::ClassLoader< TrajectoryCritic >	critic_loader_

std::vector< TrajectoryCritic::Ptr >	critics_

std::string	dwb_plugin_name_

bool	short_circuit_trajectory_evaluation_

Additional Inherited Members
Public Types inherited from nav2_core::Controller
using	Ptr = std::shared_ptr< nav2_core::Controller >

Detailed Description

Plugin-based flexible controller.

Definition at line 61 of file dwb_local_planner.hpp.

Member Function Documentation

◆ computeVelocityCommands() [1/2]

geometry_msgs::msg::TwistStamped dwb_core::DWBLocalPlanner::computeVelocityCommands	(	const geometry_msgs::msg::PoseStamped &	pose,
		const geometry_msgs::msg::Twist &	velocity,
		nav2_core::GoalChecker *
	)

overridevirtual

nav2_core computeVelocityCommands - calculates the best command given the current pose and velocity

It is presumed that the global plan is already set.

This is mostly a wrapper for the protected computeVelocityCommands function which has additional debugging info.

Parameters

pose	Current robot pose
velocity	Current robot velocity
goal_checker	Ptr to the goal checker for this task in case useful in computing commands

Returns: The best command for the robot to drive

Implements nav2_core::Controller.

Definition at line 242 of file dwb_local_planner.cpp.

◆ computeVelocityCommands() [2/2]

nav_2d_msgs::msg::Twist2DStamped dwb_core::DWBLocalPlanner::computeVelocityCommands	(	const nav_2d_msgs::msg::Pose2DStamped &	pose,
		const nav_2d_msgs::msg::Twist2D &	velocity,
		std::shared_ptr< dwb_msgs::msg::LocalPlanEvaluation > &	results
	)

virtual

Compute the best command given the current pose and velocity, with possible debug information.

Same as above computeVelocityCommands, but with debug results. If the results pointer is not null, additional information about the twists evaluated will be in results after the call.

Parameters

pose	Current robot pose
velocity	Current robot velocity
results	Output param, if not NULL, will be filled in with full evaluation results

Returns: Best command

Definition at line 284 of file dwb_local_planner.cpp.

References coreScoringAlgorithm(), and prepareGlobalPlan().

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◆ configure()

void dwb_core::DWBLocalPlanner::configure	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	,
		std::string	name,
		std::shared_ptr< tf2_ros::Buffer >	,
		std::shared_ptr< nav2_costmap_2d::Costmap2DROS >
	)

overridevirtual

Parameters

parent	pointer to user's node
costmap_ros	A pointer to the costmap

Implements nav2_core::Controller.

Definition at line 68 of file dwb_local_planner.cpp.

References loadCritics().

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◆ loadCritics()

void dwb_core::DWBLocalPlanner::loadCritics ( )

protectedvirtual

Load the critic parameters from the namespace.

Parameters

name	The namespace of this planner.

Definition at line 183 of file dwb_local_planner.cpp.

References resolveCriticClassName().

Referenced by configure().

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◆ prepareGlobalPlan()

void dwb_core::DWBLocalPlanner::prepareGlobalPlan	(	const nav_2d_msgs::msg::Pose2DStamped &	pose,
		nav_2d_msgs::msg::Path2D &	transformed_plan,
		nav_2d_msgs::msg::Pose2DStamped &	goal_pose,
		bool	publish_plan = `true`
	)

protected

Helper method for two common operations for the operating on the global_plan.

Transforms the global plan (stored in global_plan_) relative to the pose and saves it in transformed_plan and possibly publishes it. Then it takes the last pose and transforms it to match the local costmap's frame

Definition at line 267 of file dwb_local_planner.cpp.

References global_plan_, and transformGlobalPlan().

Referenced by computeVelocityCommands().

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◆ resolveCriticClassName()

std::string dwb_core::DWBLocalPlanner::resolveCriticClassName ( std::string base_name )

protected

try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic"

Parameters

base_name The name of the critic as read in from the parameter server

Returns: Our attempted resolution of the name, with namespace prepended and/or the suffix Critic appended

Definition at line 165 of file dwb_local_planner.cpp.

Referenced by loadCritics().

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◆ scoreTrajectory()

dwb_msgs::msg::TrajectoryScore dwb_core::DWBLocalPlanner::scoreTrajectory	(	const dwb_msgs::msg::Trajectory2D &	traj,
		double	best_score = `-1`
	)

virtual

Score a given command. Can be used for testing.

Given a trajectory, calculate the score where lower scores are better. If the given (positive) score exceeds the best_score, calculation may be cut short, as the score can only go up from there.

Parameters

traj	Trajectory to check
best_score	If positive, the threshold for early termination

Returns: The full scoring of the input trajectory

Definition at line 413 of file dwb_local_planner.cpp.

Referenced by coreScoringAlgorithm().

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◆ setPlan()

void dwb_core::DWBLocalPlanner::setPlan ( const nav_msgs::msg::Path & path )

overridevirtual

nav2_core setPlan - Sets the global plan

Parameters

path	The global plan

Implements nav2_core::Controller.

Definition at line 228 of file dwb_local_planner.cpp.

References global_plan_.

◆ setSpeedLimit()

void dwb_core::DWBLocalPlanner::setSpeedLimit	(	const double &	speed_limit,
		const bool &	percentage
	)

inlineoverridevirtual

Limits the maximum linear speed of the robot.

Parameters

speed_limit	expressed in absolute value (in m/s) or in percentage from maximum robot speed.
percentage	Setting speed limit in percentage if true or in absolute values in false case.

Implements nav2_core::Controller.

Definition at line 154 of file dwb_local_planner.hpp.

◆ transformGlobalPlan()

nav_2d_msgs::msg::Path2D dwb_core::DWBLocalPlanner::transformGlobalPlan ( const nav_2d_msgs::msg::Pose2DStamped & pose )

protectedvirtual

Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses.

Three key operations 1) Transforms global plan into frame of the given pose 2) Only returns poses that are near the robot, i.e. whether they are likely on the local costmap 3) If prune_plan_ is true, it will remove all points that we've already passed from both the transformed plan and the saved global_plan_. Technically, it iterates to a pose on the path that is within prune_distance_ of the robot and erases all poses before that.

Additionally, shorten_transformed_plan_ determines whether we will pass the full plan all the way to the nav goal on to the critics or just a subset of the plan near the robot. True means pass just a subset. This gives DWB less discretion to decide how it gets to the nav goal. Instead it is encouraged to try to get on to the path generated by the global planner.

Definition at line 444 of file dwb_local_planner.cpp.

References nav2_costmap_2d::Costmap2D::getResolution(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), nav2_costmap_2d::Costmap2D::getSizeInCellsY(), and global_plan_.

Referenced by prepareGlobalPlan().

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