nav2_costmap_2d::CostmapTopicCollisionChecker Class Reference

Using a costmap via a ros topic, this object is used to find if robot poses are in collision with the costmap environment. More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp>

Collaboration diagram for nav2_costmap_2d::CostmapTopicCollisionChecker:

Public Member Functions
	CostmapTopicCollisionChecker (CostmapSubscriber &costmap_sub, FootprintSubscriber &footprint_sub, std::string name="collision_checker")
	A constructor.
	CostmapTopicCollisionChecker (CostmapSubscriber &costmap_sub, std::string footprint_string, std::string name="collision_checker")
	Alternative constructor with a footprint string instead of a subscriber. It needs to be defined relative to the robot frame.
	~CostmapTopicCollisionChecker ()=default
	A destructor.
double	scorePose (const geometry_msgs::msg::Pose2D &pose, bool fetch_costmap_and_footprint=true)
	Returns the obstacle footprint score for a particular pose. More...
bool	isCollisionFree (const geometry_msgs::msg::Pose2D &pose, bool fetch_costmap_and_footprint=true)
	Returns if a pose is collision free. More...

Protected Member Functions
Footprint	getFootprint (const geometry_msgs::msg::Pose2D &pose, bool fetch_latest_footprint=true)
	Get a footprint at a set pose. More...

Protected Attributes
std::string	name_
CostmapSubscriber &	costmap_sub_
FootprintSubscriber *	footprint_sub_ = nullptr
FootprintCollisionChecker< std::shared_ptr< Costmap2D > >	collision_checker_
rclcpp::Clock::SharedPtr	clock_
Footprint	footprint_
std::string	footprint_string_

Detailed Description

Using a costmap via a ros topic, this object is used to find if robot poses are in collision with the costmap environment.

Definition at line 40 of file costmap_topic_collision_checker.hpp.

Member Function Documentation

getFootprint()

Footprint nav2_costmap_2d::CostmapTopicCollisionChecker::getFootprint ( const geometry_msgs::msg::Pose2D &  pose, bool  fetch_latest_footprint = true  )

protected

Get a footprint at a set pose.

Parameters

pose	Pose to get footprint at
fetch_latest_footprint	Defaults to true. When checking with multiple poses at once, footprint should be fetched in the first check but fetching can be skipped in consequent checks for speedup

Definition at line 100 of file costmap_topic_collision_checker.cpp.

References nav2_costmap_2d::FootprintSubscriber::getFootprintInRobotFrame(), and nav2_costmap_2d::transformFootprint().

Referenced by scorePose().

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isCollisionFree()

bool nav2_costmap_2d::CostmapTopicCollisionChecker::isCollisionFree	(	const geometry_msgs::msg::Pose2D &	pose,
		bool	fetch_costmap_and_footprint = true
	)

Returns if a pose is collision free.

Parameters

pose	Pose to check collision at
fetch_costmap_and_footprint	Defaults to true. When checking with multiple poses at once, data should be fetched in the first check but fetching can be skipped in consequent checks for speedup

Definition at line 58 of file costmap_topic_collision_checker.cpp.

References scorePose().

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scorePose()

double nav2_costmap_2d::CostmapTopicCollisionChecker::scorePose	(	const geometry_msgs::msg::Pose2D &	pose,
		bool	fetch_costmap_and_footprint = true
	)

Returns the obstacle footprint score for a particular pose.

Parameters

pose	Pose to get score at
fetch_costmap_and_footprint	Defaults to true. When checking with multiple poses at once, data should be fetched in the first check but fetching can be skipped in consequent checks for speedup

Definition at line 79 of file costmap_topic_collision_checker.cpp.

References nav2_costmap_2d::CostmapSubscriber::getCostmap(), and getFootprint().

Referenced by isCollisionFree().

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

• nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp
• nav2_costmap_2d/src/costmap_topic_collision_checker.cpp