Plugin-based flexible controller. More...

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

Inheritance diagram for dwb_core::DWBLocalPlanner:

Collaboration diagram for dwb_core::DWBLocalPlanner:

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

void	configure (const nav2::LifecycleNode::WeakPtr &parent, std::string name, nav2::TransformBuffer::SharedPtr 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	newPathReceived (const nav_msgs::msg::Path &raw_global_path) override
	nav2_core newPathReceived - Receives a new plan from the Planner Server More...

geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::Twist &velocity, nav2_core::GoalChecker *, const nav_msgs::msg::Path &transformed_global_plan, const geometry_msgs::msg::PoseStamped &global_goal) 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 geometry_msgs::msg::PoseStamped &pose, const nav_2d_msgs::msg::Twist2D &velocity, std::shared_ptr< dwb_msgs::msg::LocalPlanEvaluation > &results, const nav_msgs::msg::Path &transformed_global_plan, const geometry_msgs::msg::PoseStamped &global_goal)
	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.

virtual bool	cancel ()
	Cancel the current control action. More...

virtual void	reset ()
	Reset the state of the controller if necessary after task is exited.

Protected Member Functions
virtual dwb_msgs::msg::TrajectoryScore	coreScoringAlgorithm (const geometry_msgs::msg::Pose &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.

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
bool	debug_trajectory_details_

nav2::LifecycleNode::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

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

nav2::TransformBuffer::SharedPtr	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 62 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 *	,
		const nav_msgs::msg::Path &	transformed_global_plan,
		const geometry_msgs::msg::PoseStamped &	global_goal
	)

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
transformed_global_plan	The global plan after being processed by the path handler
global_goal	The last pose of the global plan

Returns: The best command for the robot to drive

Implements nav2_core::Controller.

Definition at line 203 of file dwb_local_planner.cpp.

◆ computeVelocityCommands() [2/2]

nav_2d_msgs::msg::Twist2DStamped dwb_core::DWBLocalPlanner::computeVelocityCommands	(	const geometry_msgs::msg::PoseStamped &	pose,
		const nav_2d_msgs::msg::Twist2D &	velocity,
		std::shared_ptr< dwb_msgs::msg::LocalPlanEvaluation > &	results,
		const nav_msgs::msg::Path &	transformed_global_plan,
		const geometry_msgs::msg::PoseStamped &	global_goal
	)

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
transformed_global_plan	The global plan after being processed by the path handler
global_goal	The last pose of the global plan

Returns: Best command

Definition at line 239 of file dwb_local_planner.cpp.

References coreScoringAlgorithm().

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◆ configure()

void dwb_core::DWBLocalPlanner::configure	(	const nav2::LifecycleNode::WeakPtr &	,
		std::string	name,
		nav2::TransformBuffer::SharedPtr	,
		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 66 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 146 of file dwb_local_planner.cpp.

References resolveCriticClassName().

Referenced by configure().

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◆ newPathReceived()

void dwb_core::DWBLocalPlanner::newPathReceived ( const nav_msgs::msg::Path & raw_global_path )

overridevirtual

nav2_core newPathReceived - Receives a new plan from the Planner Server

Parameters

raw_global_path The global plan from the Planner Server

Implements nav2_core::Controller.

Definition at line 194 of file dwb_local_planner.cpp.

◆ 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 128 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 367 of file dwb_local_planner.cpp.

Referenced by coreScoringAlgorithm().

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◆ 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 163 of file dwb_local_planner.hpp.

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

nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ computeVelocityCommands() [1/2]

◆ computeVelocityCommands() [2/2]

◆ configure()

◆ loadCritics()

◆ newPathReceived()

◆ resolveCriticClassName()

◆ scoreTrajectory()

◆ setSpeedLimit()