dwb_core::DWBPublisher Class Reference

Consolidation of all the publishing logic for the DWB Local Planner. More...

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

Collaboration diagram for dwb_core::DWBPublisher:

Public Member Functions
	DWBPublisher (const nav2::LifecycleNode::WeakPtr &parent, const std::string &plugin_name)
nav2::CallbackReturn	on_configure ()
nav2::CallbackReturn	on_activate ()
nav2::CallbackReturn	on_deactivate ()
nav2::CallbackReturn	on_cleanup ()
bool	shouldRecordEvaluation ()
	Does the publisher require that the LocalPlanEvaluation be saved. More...
void	publishEvaluation (std::shared_ptr< dwb_msgs::msg::LocalPlanEvaluation > results)
	If the pointer is not null, publish the evaluation and trajectories as needed.
void	publishLocalPlan (const std_msgs::msg::Header &header, const dwb_msgs::msg::Trajectory2D &traj)
void	publishCostGrid (const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros, const std::vector< TrajectoryCritic::Ptr > critics)
void	publishGlobalPlan (const nav_msgs::msg::Path plan)
void	publishTransformedPlan (const nav_msgs::msg::Path plan)
void	publishLocalPlan (const nav_msgs::msg::Path plan)

Protected Member Functions
void	publishTrajectories (const dwb_msgs::msg::LocalPlanEvaluation &results)
void	publishGenericPlan (const nav_msgs::msg::Path plan, rclcpp::Publisher< nav_msgs::msg::Path > &pub, bool flag)

Protected Attributes
bool	publish_evaluation_
bool	publish_global_plan_
bool	publish_transformed_
bool	publish_local_plan_
bool	publish_trajectories_
bool	publish_cost_grid_pc_
bool	publish_input_params_
builtin_interfaces::msg::Duration	marker_lifetime_
std::shared_ptr< Publisher< dwb_msgs::msg::LocalPlanEvaluation > >	eval_pub_
std::shared_ptr< Publisher< nav_msgs::msg::Path > >	global_pub_
std::shared_ptr< Publisher< nav_msgs::msg::Path > >	transformed_pub_
std::shared_ptr< Publisher< nav_msgs::msg::Path > >	local_pub_
std::shared_ptr< Publisher< visualization_msgs::msg::MarkerArray > >	marker_pub_
std::shared_ptr< Publisher< sensor_msgs::msg::PointCloud2 > >	cost_grid_pc_pub_
nav2::LifecycleNode::WeakPtr	node_
rclcpp::Clock::SharedPtr	clock_
std::string	plugin_name_

Detailed Description

Consolidation of all the publishing logic for the DWB Local Planner.

Right now, it can publish 1) The Global Plan (as passed in using setPath) 2) The Local Plan (after it is calculated) 3) The Transformed Global Plan (since it may be different than the global) 4) The Full LocalPlanEvaluation 5) Markers representing the different trajectories evaluated 6) The CostGrid (in the form of a complex PointCloud2)

Definition at line 69 of file publisher.hpp.

Member Function Documentation

shouldRecordEvaluation()

bool dwb_core::DWBPublisher::shouldRecordEvaluation ( )

inline

Does the publisher require that the LocalPlanEvaluation be saved.

Returns

True if the Evaluation is needed to publish either directly or as trajectories

Definition at line 85 of file publisher.hpp.

---

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

• nav2_dwb_controller/dwb_core/include/dwb_core/publisher.hpp
• nav2_dwb_controller/dwb_core/src/publisher.cpp