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Move_base节点连接全局规划器和本地规划器到一起来实现全局导航任务。
支持任何附着于在nav_core包中指定的nav_core::BaseGlobalPlanner接口的全局规划器。
Move_base节点也维持两个成本地图,一个是全局规划器的,一个是本地规划器的,他们都是用来完成导航任务的。
本包的作用是提供一个目标点,move_base会尝试通过全局以及局部的路径规划,让移动机器人移动到设定的目标点。
当选择机器人行走的路径时,move_base包结合base_local_planner基本局部规划器、全局代价地图和局部代价地图的里程数据。
1、cfg文件夹
cfg文件格式一般是“cofig”的缩写,多数下情下是某些配置文件,保存了某些程序的用户设备,如注册表,日志文件,系统参数,软件配置等,这些情况下为了便于识别通常会命名后缀为.cfg的文件,这类文件没有固定的格式,严格说来只是自定义的、无意义的文件类型。
MoveBase.cfg
#!/usr/bin/env python
#包名
PACKAGE = 'move_base'
#从dynamic_reconfigure.parameter_generator_catkin获得参数ParameterGenerator, str_t, double_t, bool_t, int_t
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t
#参数函数
gen = ParameterGenerator()
#gen.add(获得的行为,str,0;行为的插件名称,名字,类型)
#全局规划器
gen.add("base_global_planner", str_t, 0, "The name of the plugin for the global planner to use with move_base.", "navfn/NavfnROS")
#本地规划器
gen.add("base_local_planner", str_t, 0, "The name of the plugin for the local planner to use with move_base.", "base_local_planner/TrajectoryPlannerROS")
#规划频率,计划循环运行的速率(以Hz为单位)
gen.add("planner_frequency", double_t, 0, "The rate in Hz at which to run the planning loop.", 0, 0, 100)
#控制器频率,运行控制环路并向基地发送速度命令的频率(以Hz为单位)
gen.add("controller_frequency", double_t, 0, "The rate in Hz at which to run the control loop and send velocity commands to the base.", 20, 0, 100)
#计划器等待,在执行空间清理操作之前,计划器试图查找有效计划所等待的时间(以秒为单位)。
gen.add("planner_patience", double_t, 0, "How long the planner will wait in seconds in an attempt to find a valid plan before space-clearing operations are performed.", 5.0, 0, 100)
#控制器等待,在执行空间清除操作之前,控制器在没有收到有效控制的情况下等待多长时间(以秒为单位)。
gen.add("controller_patience", double_t, 0, "How long the controller will wait in seconds without receiving a valid control before space-clearing operations are performed.", 5.0, 0, 100)
#计划器重置的最大时间
gen.add("max_planning_retries", int_t, 0, "How many times we will recall the planner in an attempt to find a valid plan before space-clearing operations are performed", -1, -1, 1000)
#最低重置距离,试图清除地图上的障碍物时,距离机器人的距离,以米为单位。
gen.add("conservative_reset_dist", double_t, 0, "The distance away from the robot in meters at which obstacles will be cleared from the costmap when attempting to clear space in the map.", 3, 0, 50)
#复苏行为启动,是否启用move_base恢复行为以试图清空空间。
gen.add("recovery_behavior_enabled", bool_t, 0, "Whether or not to enable the move_base recovery behaviors to attempt to clear out space.", True)
#清算旋转允许,确定机器人在试图清理空间时是否尝试原地旋转。
gen.add("clearing_rotation_allowed", bool_t, 0, "Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space.", True)
#关闭代价地图,确定当move_base处于非活动状态时是否关闭节点的成本映射
gen.add("shutdown_costmaps", bool_t, 0, "Determines whether or not to shutdown the costmaps of the node when move_base is in an inactive state", False)
#震荡超时,在执行恢复行为之前允许振荡的时间(以秒为单位)。
gen.add("oscillation_timeout", double_t, 0, "How long in seconds to allow for oscillation before executing recovery behaviors.", 0.0, 0, 60)
#震荡距离,机器人必须移动多米才能被认为不振荡
gen.add("oscillation_distance", double_t, 0, "How far in meters the robot must move to be considered not to be oscillating.", 0.5, 0, 10)
#恢复到初始配置
gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False)
exit(gen.generate(PACKAGE, "move_base_node", "MoveBase"))
2、include/move_base文件夹
move_base.h
#ifndef NAV_MOVE_BASE_ACTION_H_
#define NAV_MOVE_BASE_ACTION_H_
#include <vector>
#include <string>
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <nav_core/base_local_planner.h>
#include <nav_core/base_global_planner.h>
#include <nav_core/recovery_behavior.h>
#include <geometry_msgs/PoseStamped.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <costmap_2d/costmap_2d.h>
#include <nav_msgs/GetPlan.h>
#include <pluginlib/class_loader.hpp>
#include <std_srvs/Empty.h>
#include <dynamic_reconfigure/server.h>
#include "move_base/MoveBaseConfig.h"
namespace move_base {
//Typedefs帮助处理动作服务器,这样就不用输入那么多
typedef actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> MoveBaseActionServer;
//运动状态
enum MoveBaseState {
PLANNING, //规划
CONTROLLING, //控制
CLEARING //清算
};
//重置触发器
enum RecoveryTrigger
{
PLANNING_R, //规划
CONTROLLING_R, //控制
OSCILLATION_R //震荡
};
//做一个使用actionlib::ActionServer接口的类的提要,它将机器人移动到目标位置。
class MoveBase {
public:
//动作的构造函数;name动作的名称;tf 对转动控制器的引用
MoveBase(tf2_ros::Buffer& tf);
//清理析构函数
virtual ~MoveBase();
//执行一个控制周期:goal指的是要追求的目标;global_plan 对正在使用的全局计划的引用。
//如果目标的处理完成,返回True,否则返回false
bool executeCycle(geometry_msgs::PoseStamped& goal,std::vector<geometry_msgs::PoseStamped>& global_plan);
private:
//调用服务,清除障碍的成本地图。
//req服务请求;resp服务响应
//如果服务调用成功返回True,否则返回false
bool clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp);
//当操作处于非活动状态时可以进行的服务调用,该调用将返回一个计划
//req:目标要求;resp计划要求
//如果计划成功返回True,否则返回false
bool planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp);
//制定一个新的全局规划
//goal计划的目标;plan将与规划者制定的计划一起执行
//如果计划成功返回True,否则返回false
bool makePlan(const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
//从参数服务器加载导航堆栈的恢复行为
//node用于加载参数的ros::NodeHandle
//如果加载了恢复行为则成功,否则假
bool loadRecoveryBehaviors(ros::NodeHandle node);
//加载导航栈的默认恢复行为
void loadDefaultRecoveryBehaviors();
//清除机器人周围窗口内的障碍
//size_x窗口的x大小;size_y窗口的y大小
void clearCostmapWindows(double size_x, double size_y);
//发布一个速度命令为零到指令
void publishZeroVelocity();
//重置move_base动作的状态,并向基地发送一个零速度命令
void resetState();
void goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal);
void planThread();
void executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal);
bool isQuaternionValid(const geometry_msgs::Quaternion& q);
bool getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap);
double distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2);
geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg);
//定期唤醒规划器
void wakePlanner(const ros::TimerEvent& event);
tf2_ros::Buffer& tf_;
MoveBaseActionServer* as_;
boost::shared_ptr<nav_core::BaseLocalPlanner> tc_;
costmap_2d::Costmap2DROS* planner_costmap_ros_, *controller_costmap_ros_;
boost::shared_ptr<nav_core::BaseGlobalPlanner> planner_;
std::string robot_base_frame_, global_frame_;
std::vector<boost::shared_ptr<nav_core::RecoveryBehavior> > recovery_behaviors_;
unsigned int recovery_index_;
geometry_msgs::PoseStamped global_pose_;
double planner_frequency_, controller_frequency_, inscribed_radius_, circumscribed_radius_;
double planner_patience_, controller_patience_;
int32_t max_planning_retries_;
uint32_t planning_retries_;
double conservative_reset_dist_, clearing_radius_;
ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_;
ros::Subscriber goal_sub_;
ros::ServiceServer make_plan_srv_, clear_costmaps_srv_;
bool shutdown_costmaps_, clearing_rotation_allowed_, recovery_behavior_enabled_;
double oscillation_timeout_, oscillation_distance_;
MoveBaseState state_;
RecoveryTrigger recovery_trigger_;
ros::Time last_valid_plan_, last_valid_control_, last_oscillation_reset_;
geometry_msgs::PoseStamped oscillation_pose_;
pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> bgp_loader_;
pluginlib::ClassLoader<nav_core::BaseLocalPlanner> blp_loader_;
pluginlib::ClassLoader<nav_core::RecoveryBehavior> recovery_loader_;
//建立计划三重缓冲区
std::vector<geometry_msgs::PoseStamped>* planner_plan_;
std::vector<geometry_msgs::PoseStamped>* latest_plan_;
std::vector<geometry_msgs::PoseStamped>* controller_plan_;
//设置计划者的线程
bool runPlanner_;
boost::recursive_mutex planner_mutex_;
boost::condition_variable_any planner_cond_;
geometry_msgs::PoseStamped planner_goal_;
boost::thread* planner_thread_;
boost::recursive_mutex configuration_mutex_;
dynamic_reconfigure::Server<move_base::MoveBaseConfig> *dsrv_;
void reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level);
move_base::MoveBaseConfig last_config_;
move_base::MoveBaseConfig default_config_;
bool setup_, p_freq_change_, c_freq_change_;
bool new_global_plan_;
};
};
3、src文件夹
move_base_node.cpp
#include <move_base/move_base.h>
#include <tf2_ros/transform_listener.h>
int main(int argc, char** argv){
ros::init(argc, argv, "move_base_node");
tf2_ros::Buffer buffer(ros::Duration(10));
tf2_ros::TransformListener tf(buffer);
move_base::MoveBase move_base( buffer );
ros::spin();
return(0);
}
move_base.cpp
对于global planner,可以采用以下三种实现之一:
“navfn/NavfnROS”
“global_planner/GlobalPlanner”
“carrot_planner/CarrotPlanner”
以上的更改可在以下代码34行更改
#include <move_base/move_base.h>
#include <cmath>
#include <boost/algorithm/string.hpp>
#include <boost/thread.hpp>
#include <geometry_msgs/Twist.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
namespace move_base {
MoveBase::MoveBase(tf2_ros::Buffer& tf) :
tf_(tf),
as_(NULL),
planner_costmap_ros_(NULL), controller_costmap_ros_(NULL),
bgp_loader_("nav_core", "nav_core::BaseGlobalPlanner"),
blp_loader_("nav_core", "nav_core::BaseLocalPlanner"),
recovery_loader_("nav_core", "nav_core::RecoveryBehavior"),
planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL),
runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) {
as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false);
ros::NodeHandle private_nh("~");
ros::NodeHandle nh;
recovery_trigger_ = PLANNING_R;
//获取一些对move base节点全局的参数
std::string global_planner, local_planner;
//修改使用算法的地方!!!把navfn/NavfnROS改为global_planner/GlobalPlanner
private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS"));
private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS"));
private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link"));
private_nh.param("global_costmap/global_frame", global_frame_, std::string("map"));
private_nh.param("planner_frequency", planner_frequency_, 0.0);
private_nh.param("controller_frequency", controller_frequency_, 20.0);
private_nh.param("planner_patience", planner_patience_, 5.0);
private_nh.param("controller_patience", controller_patience_, 15.0);
private_nh.param("max_planning_retries", max_planning_retries_, -1); // disabled by default
private_nh.param("oscillation_timeout", oscillation_timeout_, 0.0);
private_nh.param("oscillation_distance", oscillation_distance_, 0.5);
//建立计划三重缓冲区
planner_plan_ = new std::vector<geometry_msgs::PoseStamped>();
latest_plan_ = new std::vector<geometry_msgs::PoseStamped>();
controller_plan_ = new std::vector<geometry_msgs::PoseStamped>();
//设置计划者的线程
planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this));
//基本命令
vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
current_goal_pub_ = private_nh.advertise<geometry_msgs::PoseStamped>("current_goal", 0 );
ros::NodeHandle action_nh("move_base");
action_goal_pub_ = action_nh.advertise<move_base_msgs::MoveBaseActionGoal>("goal", 1);
//提供一种机制,让一些人将目标作为PoseStamped消息发送到主题上
//他们不会得到任何有用的信息,它的状态,但这是有用的工具,像nav_view和rviz
ros::NodeHandle simple_nh("move_base_simple");
goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, boost::bind(&MoveBase::goalCB, this, _1));
//将假设机器人的半径与指定的成本地图一致
private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325);
private_nh.param("local_costmap/circumscribed_radius", circumscribed_radius_, 0.46);
private_nh.param("clearing_radius", clearing_radius_, circumscribed_radius_);
private_nh.param("conservative_reset_dist", conservative_reset_dist_, 3.0);
private_nh.param("shutdown_costmaps", shutdown_costmaps_, false);
private_nh.param("clearing_rotation_allowed", clearing_rotation_allowed_, true);
private_nh.param("recovery_behavior_enabled", recovery_behavior_enabled_, true);
//为计划者的成本图创建ros包装…初始化器是一个指针,将在底层映射中使用
planner_costmap_ros_ = new costmap_2d::Costmap2DROS("global_costmap", tf_);
planner_costmap_ros_->pause();
//初始化全局规划器
try {
planner_ = bgp_loader_.createInstance(global_planner);
planner_->initialize(bgp_loader_.getName(global_planner), planner_costmap_ros_);
} catch (const pluginlib::PluginlibException& ex) {
ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", global_planner.c_str(), ex.what());
exit(1);
}
//为控制器的costmap创建ros包装器…初始化器是一个指针,将在底层映射中使用
controller_costmap_ros_ = new costmap_2d::Costmap2DROS("local_costmap", tf_);
controller_costmap_ros_->pause();
//创建一个局部规划器
try {
tc_ = blp_loader_.createInstance(local_planner);
ROS_INFO("Created local_planner %s", local_planner.c_str());
tc_->initialize(blp_loader_.getName(local_planner), &tf_, controller_costmap_ros_);
} catch (const pluginlib::PluginlibException& ex) {
ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", local_planner.c_str(), ex.what());
exit(1);
}
//开始基于传感器数据主动更新成本图
planner_costmap_ros_->start();
controller_costmap_ros_->start();
//为获得计划的服务做准备服务
make_plan_srv_ = private_nh.advertiseService("make_plan", &MoveBase::planService, this);
//发布一个清理成本图的服务
clear_costmaps_srv_ = private_nh.advertiseService("clear_costmaps", &MoveBase::clearCostmapsService, this);
//如果关闭成本地图时,停用…现在就这么做
if(shutdown_costmaps_){
ROS_DEBUG_NAMED("move_base","Stopping costmaps initially");
planner_costmap_ros_->stop();
controller_costmap_ros_->stop();
}
//加载任何用户指定的恢复行为,如果失败,则加载默认值
if(!loadRecoveryBehaviors(private_nh)){
loadDefaultRecoveryBehaviors();
}
//首先制定一个计划
state_ = PLANNING;
//将在列表的开头开始执行恢复行为
recovery_index_ = 0;
//启动动作服务器
as_->start();
dsrv_ = new dynamic_reconfigure::Server<move_base::MoveBaseConfig>(ros::NodeHandle("~"));
dynamic_reconfigure::Server<move_base::MoveBaseConfig>::CallbackType cb = boost::bind(&MoveBase::reconfigureCB, this, _1, _2);
dsrv_->setCallback(cb);
}
void MoveBase::reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level){
boost::recursive_mutex::scoped_lock l(configuration_mutex_);
//第一次被调用时,确保有原始配置
if(!setup_)
{
last_config_ = config;
default_config_ = config;
setup_ = true;
return;
}
if(config.restore_defaults) {
config = default_config_;
//如果有人设置了参数服务器上的恢复默认值,防止循环
config.restore_defaults = false;
}
if(planner_frequency_ != config.planner_frequency)
{
planner_frequency_ = config.planner_frequency;
p_freq_change_ = true;
}
if(controller_frequency_ != config.controller_frequency)
{
controller_frequency_ = config.controller_frequency;
c_freq_change_ = true;
}
planner_patience_ = config.planner_patience;
controller_patience_ = config.controller_patience;
max_planning_retries_ = config.max_planning_retries;
conservative_reset_dist_ = config.conservative_reset_dist;
recovery_behavior_enabled_ = config.recovery_behavior_enabled;
clearing_rotation_allowed_ = config.clearing_rotation_allowed;
shutdown_costmaps_ = config.shutdown_costmaps;
oscillation_timeout_ = config.oscillation_timeout;
oscillation_distance_ = config.oscillation_distance;
if(config.base_global_planner != last_config_.base_global_planner) {
boost::shared_ptr<nav_core::BaseGlobalPlanner> old_planner = planner_;
//初始化全局规划器
ROS_INFO("Loading global planner %s", config.base_global_planner.c_str());
try {
planner_ = bgp_loader_.createInstance(config.base_global_planner);
//等待当前计划器完成计划
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
//在初始化新计划器之前清理
planner_plan_->clear();
latest_plan_->clear();
controller_plan_->clear();
resetState();
planner_->initialize(bgp_loader_.getName(config.base_global_planner), planner_costmap_ros_);
lock.unlock();
} catch (const pluginlib::PluginlibException& ex) {
ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the \containing library is built? Exception: %s", config.base_global_planner.c_str(), ex.what());
planner_ = old_planner;
config.base_global_planner = last_config_.base_global_planner;
}
}
if(config.base_local_planner != last_config_.base_local_planner){
boost::shared_ptr<nav_core::BaseLocalPlanner> old_planner = tc_;
//创建本地规划器
try {
tc_ = blp_loader_.createInstance(config.base_local_planner);
//在初始化新计划器之前清理
planner_plan_->clear();
latest_plan_->clear();
controller_plan_->clear();
resetState();
tc_->initialize(blp_loader_.getName(config.base_local_planner), &tf_, controller_costmap_ros_);
} catch (const pluginlib::PluginlibException& ex) {
ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the \containing library is built? Exception: %s", config.base_local_planner.c_str(), ex.what());
tc_ = old_planner;
config.base_local_planner = last_config_.base_local_planner;
}
}
last_config_ = config;
}
void MoveBase::goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal){
ROS_DEBUG_NAMED("move_base","In ROS goal callback, wrapping the PoseStamped in the action message and re-sending to the server.");
move_base_msgs::MoveBaseActionGoal action_goal;
action_goal.header.stamp = ros::Time::now();
action_goal.goal.target_pose = *goal;
action_goal_pub_.publish(action_goal);
}
void MoveBase::clearCostmapWindows(double size_x, double size_y){
geometry_msgs::PoseStamped global_pose;
//清空计划者的成本图
getRobotPose(global_pose, planner_costmap_ros_);
std::vector<geometry_msgs::Point> clear_poly;
double x = global_pose.pose.position.x;
double y = global_pose.pose.position.y;
geometry_msgs::Point pt;
pt.x = x - size_x / 2;
pt.y = y - size_y / 2;
clear_poly.push_back(pt);
pt.x = x + size_x / 2;
pt.y = y - size_y / 2;
clear_poly.push_back(pt);
pt.x = x + size_x / 2;
pt.y = y + size_y / 2;
clear_poly.push_back(pt);
pt.x = x - size_x / 2;
pt.y = y + size_y / 2;
clear_poly.push_back(pt);
planner_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE);
//清除控制器的costmap
getRobotPose(global_pose, controller_costmap_ros_);
clear_poly.clear();
x = global_pose.pose.position.x;
y = global_pose.pose.position.y;
pt.x = x - size_x / 2;
pt.y = y - size_y / 2;
clear_poly.push_back(pt);
pt.x = x + size_x / 2;
pt.y = y - size_y / 2;
clear_poly.push_back(pt);
pt.x = x + size_x / 2;
pt.y = y + size_y / 2;
clear_poly.push_back(pt);
pt.x = x - size_x / 2;
pt.y = y + size_y / 2;
clear_poly.push_back(pt);
controller_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE);
}
bool MoveBase::clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp){
//clear the costmaps
boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock_controller(*(controller_costmap_ros_->getCostmap()->getMutex()));
controller_costmap_ros_->resetLayers();
boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock_planner(*(planner_costmap_ros_->getCostmap()->getMutex()));
planner_costmap_ros_->resetLayers();
return true;
}
bool MoveBase::planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp){
if(as_->isActive()){
ROS_ERROR("move_base must be in an inactive state to make a plan for an external user");
return false;
}
//make sure we have a costmap for our planner
if(planner_costmap_ros_ == NULL){
ROS_ERROR("move_base cannot make a plan for you because it doesn't have a costmap");
return false;
}
geometry_msgs::PoseStamped start;
//如果用户没有指定一个由空帧id标识的起始姿态,则使用机器人的姿态
if(req.start.header.frame_id.empty())
{
geometry_msgs::PoseStamped global_pose;
if(!getRobotPose(global_pose, planner_costmap_ros_)){
ROS_ERROR("move_base cannot make a plan for you because it could not get the start pose of the robot");
return false;
}
start = global_pose;
}
else
{
start = req.start;
}
//更新计划器使用的costmap的副本
clearCostmapWindows(2 * clearing_radius_, 2 * clearing_radius_);
//首先要为确切的预期目标制定一个计划
std::vector<geometry_msgs::PoseStamped> global_plan;
if(!planner_->makePlan(start, req.goal, global_plan) || global_plan.empty()){
ROS_DEBUG_NAMED("move_base","Failed to find a plan to exact goal of (%.2f, %.2f), searching for a feasible goal within tolerance",
req.goal.pose.position.x, req.goal.pose.position.y);
//在指定的公差范围内向外搜索可行目标
geometry_msgs::PoseStamped p;
p = req.goal;
bool found_legal = false;
float resolution = planner_costmap_ros_->getCostmap()->getResolution();
float search_increment = resolution*3.0;
if(req.tolerance > 0.0 && req.tolerance < search_increment) search_increment = req.tolerance;
for(float max_offset = search_increment; max_offset <= req.tolerance && !found_legal; max_offset += search_increment) {
for(float y_offset = 0; y_offset <= max_offset && !found_legal; y_offset += search_increment) {
for(float x_offset = 0; x_offset <= max_offset && !found_legal; x_offset += search_increment) {
//don't search again inside the current outer layer
if(x_offset < max_offset-1e-9 && y_offset < max_offset-1e-9) continue;
//search to both sides of the desired goal
for(float y_mult = -1.0; y_mult <= 1.0 + 1e-9 && !found_legal; y_mult += 2.0) {
//if one of the offsets is 0, -1*0 is still 0 (so get rid of one of the two)
if(y_offset < 1e-9 && y_mult < -1.0 + 1e-9) continue;
for(float x_mult = -1.0; x_mult <= 1.0 + 1e-9 && !found_legal; x_mult += 2.0) {
if(x_offset < 1e-9 && x_mult < -1.0 + 1e-9) continue;
p.pose.position.y = req.goal.pose.position.y + y_offset * y_mult;
p.pose.position.x = req.goal.pose.position.x + x_offset * x_mult;
if(planner_->makePlan(start, p, global_plan)){
if(!global_plan.empty()){
//adding the (unreachable) original goal to the end of the global plan, in case the local planner can get you there
//(the reachable goal should have been added by the global planner)
global_plan.push_back(req.goal);
found_legal = true;
ROS_DEBUG_NAMED("move_base", "Found a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y);
break;
}
}
else{
ROS_DEBUG_NAMED("move_base","Failed to find a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y);
}
}
}
}
}
}
}
//copy the plan into a message to send out
resp.plan.poses.resize(global_plan.size());
for(unsigned int i = 0; i < global_plan.size(); ++i){
resp.plan.poses[i] = global_plan[i];
}
return true;
}
MoveBase::~MoveBase(){
recovery_behaviors_.clear();
delete dsrv_;
if(as_ != NULL)
delete as_;
if(planner_costmap_ros_ != NULL)
delete planner_costmap_ros_;
if(controller_costmap_ros_ != NULL)
delete controller_costmap_ros_;
planner_thread_->interrupt();
planner_thread_->join();
delete planner_thread_;
delete planner_plan_;
delete latest_plan_;
delete controller_plan_;
planner_.reset();
tc_.reset();
}
bool MoveBase::makePlan(const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan){
boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock(*(planner_costmap_ros_->getCostmap()->getMutex()));
//make sure to set the plan to be empty initially
plan.clear();
//since this gets called on handle activate
if(planner_costmap_ros_ == NULL) {
ROS_ERROR("Planner costmap ROS is NULL, unable to create global plan");
return false;
}
//get the starting pose of the robot
geometry_msgs::PoseStamped global_pose;
if(!getRobotPose(global_pose, planner_costmap_ros_)) {
ROS_WARN("Unable to get starting pose of robot, unable to create global plan");
return false;
}
const geometry_msgs::PoseStamped& start = global_pose;
//if the planner fails or returns a zero length plan, planning failed
if(!planner_->makePlan(start, goal, plan) || plan.empty()){
ROS_DEBUG_NAMED("move_base","Failed to find a plan to point (%.2f, %.2f)", goal.pose.position.x, goal.pose.position.y);
return false;
}
return true;
}
void MoveBase::publishZeroVelocity(){
geometry_msgs::Twist cmd_vel;
cmd_vel.linear.x = 0.0;
cmd_vel.linear.y = 0.0;
cmd_vel.angular.z = 0.0;
vel_pub_.publish(cmd_vel);
}
bool MoveBase::isQuaternionValid(const geometry_msgs::Quaternion& q){
//first we need to check if the quaternion has nan's or infs
if(!std::isfinite(q.x) || !std::isfinite(q.y) || !std::isfinite(q.z) || !std::isfinite(q.w)){
ROS_ERROR("Quaternion has nans or infs... discarding as a navigation goal");
return false;
}
tf2::Quaternion tf_q(q.x, q.y, q.z, q.w);
//next, we need to check if the length of the quaternion is close to zero
if(tf_q.length2() < 1e-6){
ROS_ERROR("Quaternion has length close to zero... discarding as navigation goal");
return false;
}
//next, we'll normalize the quaternion and check that it transforms the vertical vector correctly
tf_q.normalize();
tf2::Vector3 up(0, 0, 1);
double dot = up.dot(up.rotate(tf_q.getAxis(), tf_q.getAngle()));
if(fabs(dot - 1) > 1e-3){
ROS_ERROR("Quaternion is invalid... for navigation the z-axis of the quaternion must be close to vertical.");
return false;
}
return true;
}
geometry_msgs::PoseStamped MoveBase::goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg){
std::string global_frame = planner_costmap_ros_->getGlobalFrameID();
geometry_msgs::PoseStamped goal_pose, global_pose;
goal_pose = goal_pose_msg;
//just get the latest available transform... for accuracy they should send
//goals in the frame of the planner
goal_pose.header.stamp = ros::Time();
try{
tf_.transform(goal_pose_msg, global_pose, global_frame);
}
catch(tf2::TransformException& ex){
ROS_WARN("Failed to transform the goal pose from %s into the %s frame: %s",
goal_pose.header.frame_id.c_str(), global_frame.c_str(), ex.what());
return goal_pose_msg;
}
return global_pose;
}
void MoveBase::wakePlanner(const ros::TimerEvent& event)
{
// we have slept long enough for rate
planner_cond_.notify_one();
}
void MoveBase::planThread(){
ROS_DEBUG_NAMED("move_base_plan_thread","Starting planner thread...");
ros::NodeHandle n;
ros::Timer timer;
bool wait_for_wake = false;
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
while(n.ok()){
//check if we should run the planner (the mutex is locked)
while(wait_for_wake || !runPlanner_){
//if we should not be running the planner then suspend this thread
ROS_DEBUG_NAMED("move_base_plan_thread","Planner thread is suspending");
planner_cond_.wait(lock);
wait_for_wake = false;
}
ros::Time start_time = ros::Time::now();
//time to plan! get a copy of the goal and unlock the mutex
geometry_msgs::PoseStamped temp_goal = planner_goal_;
lock.unlock();
ROS_DEBUG_NAMED("move_base_plan_thread","Planning...");
//run planner
planner_plan_->clear();
bool gotPlan = n.ok() && makePlan(temp_goal, *planner_plan_);
if(gotPlan){
ROS_DEBUG_NAMED("move_base_plan_thread","Got Plan with %zu points!", planner_plan_->size());
//pointer swap the plans under mutex (the controller will pull from latest_plan_)
std::vector<geometry_msgs::PoseStamped>* temp_plan = planner_plan_;
lock.lock();
planner_plan_ = latest_plan_;
latest_plan_ = temp_plan;
last_valid_plan_ = ros::Time::now();
planning_retries_ = 0;
new_global_plan_ = true;
ROS_DEBUG_NAMED("move_base_plan_thread","Generated a plan from the base_global_planner");
//make sure we only start the controller if we still haven't reached the goal
if(runPlanner_)
state_ = CONTROLLING;
if(planner_frequency_ <= 0)
runPlanner_ = false;
lock.unlock();
}
//if we didn't get a plan and we are in the planning state (the robot isn't moving)
else if(state_==PLANNING){
ROS_DEBUG_NAMED("move_base_plan_thread","No Plan...");
ros::Time attempt_end = last_valid_plan_ + ros::Duration(planner_patience_);
//check if we've tried to make a plan for over our time limit or our maximum number of retries
//issue #496: we stop planning when one of the conditions is true, but if max_planning_retries_
//is negative (the default), it is just ignored and we have the same behavior as ever
lock.lock();
planning_retries_++;
if(runPlanner_ &&
(ros::Time::now() > attempt_end || planning_retries_ > uint32_t(max_planning_retries_))){
//we'll move into our obstacle clearing mode
state_ = CLEARING;
runPlanner_ = false; // proper solution for issue #523
publishZeroVelocity();
recovery_trigger_ = PLANNING_R;
}
lock.unlock();
}
//take the mutex for the next iteration
lock.lock();
//setup sleep interface if needed
if(planner_frequency_ > 0){
ros::Duration sleep_time = (start_time + ros::Duration(1.0/planner_frequency_)) - ros::Time::now();
if (sleep_time > ros::Duration(0.0)){
wait_for_wake = true;
timer = n.createTimer(sleep_time, &MoveBase::wakePlanner, this);
}
}
}
}
void MoveBase::executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal)
{
if(!isQuaternionValid(move_base_goal->target_pose.pose.orientation)){
as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on goal because it was sent with an invalid quaternion");
return;
}
geometry_msgs::PoseStamped goal = goalToGlobalFrame(move_base_goal->target_pose);
publishZeroVelocity();
//we have a goal so start the planner
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
planner_goal_ = goal;
runPlanner_ = true;
planner_cond_.notify_one();
lock.unlock();
current_goal_pub_.publish(goal);
std::vector<geometry_msgs::PoseStamped> global_plan;
ros::Rate r(controller_frequency_);
if(shutdown_costmaps_){
ROS_DEBUG_NAMED("move_base","Starting up costmaps that were shut down previously");
planner_costmap_ros_->start();
controller_costmap_ros_->start();
}
//we want to make sure that we reset the last time we had a valid plan and control
last_valid_control_ = ros::Time::now();
last_valid_plan_ = ros::Time::now();
last_oscillation_reset_ = ros::Time::now();
planning_retries_ = 0;
ros::NodeHandle n;
while(n.ok())
{
if(c_freq_change_)
{
ROS_INFO("Setting controller frequency to %.2f", controller_frequency_);
r = ros::Rate(controller_frequency_);
c_freq_change_ = false;
}
if(as_->isPreemptRequested()){
if(as_->isNewGoalAvailable()){
//if we're active and a new goal is available, we'll accept it, but we won't shut anything down
move_base_msgs::MoveBaseGoal new_goal = *as_->acceptNewGoal();
if(!isQuaternionValid(new_goal.target_pose.pose.orientation)){
as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on goal because it was sent with an invalid quaternion");
return;
}
goal = goalToGlobalFrame(new_goal.target_pose);
//we'll make sure that we reset our state for the next execution cycle
recovery_index_ = 0;
state_ = PLANNING;
//we have a new goal so make sure the planner is awake
lock.lock();
planner_goal_ = goal;
runPlanner_ = true;
planner_cond_.notify_one();
lock.unlock();
//publish the goal point to the visualizer
ROS_DEBUG_NAMED("move_base","move_base has received a goal of x: %.2f, y: %.2f", goal.pose.position.x, goal.pose.position.y);
current_goal_pub_.publish(goal);
//make sure to reset our timeouts and counters
last_valid_control_ = ros::Time::now();
last_valid_plan_ = ros::Time::now();
last_oscillation_reset_ = ros::Time::now();
planning_retries_ = 0;
}
else {
//if we've been preempted explicitly we need to shut things down
resetState();
//notify the ActionServer that we've successfully preempted
ROS_DEBUG_NAMED("move_base","Move base preempting the current goal");
as_->setPreempted();
//we'll actually return from execute after preempting
return;
}
}
//we also want to check if we've changed global frames because we need to transform our goal pose
if(goal.header.frame_id != planner_costmap_ros_->getGlobalFrameID()){
goal = goalToGlobalFrame(goal);
//we want to go back to the planning state for the next execution cycle
recovery_index_ = 0;
state_ = PLANNING;
//we have a new goal so make sure the planner is awake
lock.lock();
planner_goal_ = goal;
runPlanner_ = true;
planner_cond_.notify_one();
lock.unlock();
//publish the goal point to the visualizer
ROS_DEBUG_NAMED("move_base","The global frame for move_base has changed, new frame: %s, new goal position x: %.2f, y: %.2f", goal.header.frame_id.c_str(), goal.pose.position.x, goal.pose.position.y);
current_goal_pub_.publish(goal);
//make sure to reset our timeouts and counters
last_valid_control_ = ros::Time::now();
last_valid_plan_ = ros::Time::now();
last_oscillation_reset_ = ros::Time::now();
planning_retries_ = 0;
}
//for timing that gives real time even in simulation
ros::WallTime start = ros::WallTime::now();
//the real work on pursuing a goal is done here
bool done = executeCycle(goal, global_plan);
//if we're done, then we'll return from execute
if(done)
return;
//check if execution of the goal has completed in some way
ros::WallDuration t_diff = ros::WallTime::now() - start;
ROS_DEBUG_NAMED("move_base","Full control cycle time: %.9f\n", t_diff.toSec());
r.sleep();
//make sure to sleep for the remainder of our cycle time
if(r.cycleTime() > ros::Duration(1 / controller_frequency_) && state_ == CONTROLLING)
ROS_WARN("Control loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds", controller_frequency_, r.cycleTime().toSec());
}
//wake up the planner thread so that it can exit cleanly
lock.lock();
runPlanner_ = true;
planner_cond_.notify_one();
lock.unlock();
//if the node is killed then we'll abort and return
as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on the goal because the node has been killed");
return;
}
double MoveBase::distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2)
{
return hypot(p1.pose.position.x - p2.pose.position.x, p1.pose.position.y - p2.pose.position.y);
}
bool MoveBase::executeCycle(geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& global_plan){
boost::recursive_mutex::scoped_lock ecl(configuration_mutex_);
//we need to be able to publish velocity commands
geometry_msgs::Twist cmd_vel;
//update feedback to correspond to our curent position
geometry_msgs::PoseStamped global_pose;
getRobotPose(global_pose, planner_costmap_ros_);
const geometry_msgs::PoseStamped& current_position = global_pose;
//push the feedback out
move_base_msgs::MoveBaseFeedback feedback;
feedback.base_position = current_position;
as_->publishFeedback(feedback);
//check to see if we've moved far enough to reset our oscillation timeout
if(distance(current_position, oscillation_pose_) >= oscillation_distance_)
{
last_oscillation_reset_ = ros::Time::now();
oscillation_pose_ = current_position;
//if our last recovery was caused by oscillation, we want to reset the recovery index
if(recovery_trigger_ == OSCILLATION_R)
recovery_index_ = 0;
}
//check that the observation buffers for the costmap are current, we don't want to drive blind
if(!controller_costmap_ros_->isCurrent()){
ROS_WARN("[%s]:Sensor data is out of date, we're not going to allow commanding of the base for safety",ros::this_node::getName().c_str());
publishZeroVelocity();
return false;
}
//if we have a new plan then grab it and give it to the controller
if(new_global_plan_){
//make sure to set the new plan flag to false
new_global_plan_ = false;
ROS_DEBUG_NAMED("move_base","Got a new plan...swap pointers");
//do a pointer swap under mutex
std::vector<geometry_msgs::PoseStamped>* temp_plan = controller_plan_;
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
controller_plan_ = latest_plan_;
latest_plan_ = temp_plan;
lock.unlock();
ROS_DEBUG_NAMED("move_base","pointers swapped!");
if(!tc_->setPlan(*controller_plan_)){
//ABORT and SHUTDOWN COSTMAPS
ROS_ERROR("Failed to pass global plan to the controller, aborting.");
resetState();
//disable the planner thread
lock.lock();
runPlanner_ = false;
lock.unlock();
as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to pass global plan to the controller.");
return true;
}
//make sure to reset recovery_index_ since we were able to find a valid plan
if(recovery_trigger_ == PLANNING_R)
recovery_index_ = 0;
}
//the move_base state machine, handles the control logic for navigation
switch(state_){
//if we are in a planning state, then we'll attempt to make a plan
case PLANNING:
{
boost::recursive_mutex::scoped_lock lock(planner_mutex_);
runPlanner_ = true;
planner_cond_.notify_one();
}
ROS_DEBUG_NAMED("move_base","Waiting for plan, in the planning state.");
break;
//if we're controlling, we'll attempt to find valid velocity commands
case CONTROLLING:
ROS_DEBUG_NAMED("move_base","In controlling state.");
//check to see if we've reached our goal
if(tc_->isGoalReached()){
ROS_DEBUG_NAMED("move_base","Goal reached!");
resetState();
//disable the planner thread
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
runPlanner_ = false;
lock.unlock();
as_->setSucceeded(move_base_msgs::MoveBaseResult(), "Goal reached.");
return true;
}
//check for an oscillation condition
if(oscillation_timeout_ > 0.0 &&
last_oscillation_reset_ + ros::Duration(oscillation_timeout_) < ros::Time::now())
{
publishZeroVelocity();
state_ = CLEARING;
recovery_trigger_ = OSCILLATION_R;
}
{
boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock(*(controller_costmap_ros_->getCostmap()->getMutex()));
if(tc_->computeVelocityCommands(cmd_vel)){
ROS_DEBUG_NAMED( "move_base", "Got a valid command from the local planner: %.3lf, %.3lf, %.3lf",
cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z );
last_valid_control_ = ros::Time::now();
//make sure that we send the velocity command to the base
vel_pub_.publish(cmd_vel);
if(recovery_trigger_ == CONTROLLING_R)
recovery_index_ = 0;
}
else {
ROS_DEBUG_NAMED("move_base", "The local planner could not find a valid plan.");
ros::Time attempt_end = last_valid_control_ + ros::Duration(controller_patience_);
//check if we've tried to find a valid control for longer than our time limit
if(ros::Time::now() > attempt_end){
//we'll move into our obstacle clearing mode
publishZeroVelocity();
state_ = CLEARING;
recovery_trigger_ = CONTROLLING_R;
}
else{
//otherwise, if we can't find a valid control, we'll go back to planning
last_valid_plan_ = ros::Time::now();
planning_retries_ = 0;
state_ = PLANNING;
publishZeroVelocity();
//enable the planner thread in case it isn't running on a clock
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
runPlanner_ = true;
planner_cond_.notify_one();
lock.unlock();
}
}
}
break;
//we'll try to clear out space with any user-provided recovery behaviors
case CLEARING:
ROS_DEBUG_NAMED("move_base","In clearing/recovery state");
//we'll invoke whatever recovery behavior we're currently on if they're enabled
if(recovery_behavior_enabled_ && recovery_index_ < recovery_behaviors_.size()){
ROS_DEBUG_NAMED("move_base_recovery","Executing behavior %u of %zu", recovery_index_, recovery_behaviors_.size());
recovery_behaviors_[recovery_index_]->runBehavior();
//we at least want to give the robot some time to stop oscillating after executing the behavior
last_oscillation_reset_ = ros::Time::now();
//we'll check if the recovery behavior actually worked
ROS_DEBUG_NAMED("move_base_recovery","Going back to planning state");
last_valid_plan_ = ros::Time::now();
planning_retries_ = 0;
state_ = PLANNING;
//update the index of the next recovery behavior that we'll try
recovery_index_++;
}
else{
ROS_DEBUG_NAMED("move_base_recovery","All recovery behaviors have failed, locking the planner and disabling it.");
//disable the planner thread
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
runPlanner_ = false;
lock.unlock();
ROS_DEBUG_NAMED("move_base_recovery","Something should abort after this.");
if(recovery_trigger_ == CONTROLLING_R){
ROS_ERROR("Aborting because a valid control could not be found. Even after executing all recovery behaviors");
as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to find a valid control. Even after executing recovery behaviors.");
}
else if(recovery_trigger_ == PLANNING_R){
ROS_ERROR("Aborting because a valid plan could not be found. Even after executing all recovery behaviors");
as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to find a valid plan. Even after executing recovery behaviors.");
}
else if(recovery_trigger_ == OSCILLATION_R){
ROS_ERROR("Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors");
as_->setAborted(move_base_msgs::MoveBaseResult(), "Robot is oscillating. Even after executing recovery behaviors.");
}
resetState();
return true;
}
break;
default:
ROS_ERROR("This case should never be reached, something is wrong, aborting");
resetState();
//disable the planner thread
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
runPlanner_ = false;
lock.unlock();
as_->setAborted(move_base_msgs::MoveBaseResult(), "Reached a case that should not be hit in move_base. This is a bug, please report it.");
return true;
}
//we aren't done yet
return false;
}
bool MoveBase::loadRecoveryBehaviors(ros::NodeHandle node){
XmlRpc::XmlRpcValue behavior_list;
if(node.getParam("recovery_behaviors", behavior_list)){
if(behavior_list.getType() == XmlRpc::XmlRpcValue::TypeArray){
for(int i = 0; i < behavior_list.size(); ++i){
if(behavior_list[i].getType() == XmlRpc::XmlRpcValue::TypeStruct){
if(behavior_list[i].hasMember("name") && behavior_list[i].hasMember("type")){
//check for recovery behaviors with the same name
for(int j = i + 1; j < behavior_list.size(); j++){
if(behavior_list[j].getType() == XmlRpc::XmlRpcValue::TypeStruct){
if(behavior_list[j].hasMember("name") && behavior_list[j].hasMember("type")){
std::string name_i = behavior_list[i]["name"];
std::string name_j = behavior_list[j]["name"];
if(name_i == name_j){
ROS_ERROR("A recovery behavior with the name %s already exists, this is not allowed. Using the default recovery behaviors instead.",
name_i.c_str());
return false;
}
}
}
}
}
else{
ROS_ERROR("Recovery behaviors must have a name and a type and this does not. Using the default recovery behaviors instead.");
return false;
}
}
else{
ROS_ERROR("Recovery behaviors must be specified as maps, but they are XmlRpcType %d. We'll use the default recovery behaviors instead.",
behavior_list[i].getType());
return false;
}
}
//if we've made it to this point, we know that the list is legal so we'll create all the recovery behaviors
for(int i = 0; i < behavior_list.size(); ++i){
try{
//check if a non fully qualified name has potentially been passed in
if(!recovery_loader_.isClassAvailable(behavior_list[i]["type"])){
std::vector<std::string> classes = recovery_loader_.getDeclaredClasses();
for(unsigned int i = 0; i < classes.size(); ++i){
if(behavior_list[i]["type"] == recovery_loader_.getName(classes[i])){
//if we've found a match... we'll get the fully qualified name and break out of the loop
ROS_WARN("Recovery behavior specifications should now include the package name. You are using a deprecated API. Please switch from %s to %s in your yaml file.",
std::string(behavior_list[i]["type"]).c_str(), classes[i].c_str());
behavior_list[i]["type"] = classes[i];
break;
}
}
}
boost::shared_ptr<nav_core::RecoveryBehavior> behavior(recovery_loader_.createInstance(behavior_list[i]["type"]));
//shouldn't be possible, but it won't hurt to check
if(behavior.get() == NULL){
ROS_ERROR("The ClassLoader returned a null pointer without throwing an exception. This should not happen");
return false;
}
//initialize the recovery behavior with its name
behavior->initialize(behavior_list[i]["name"], &tf_, planner_costmap_ros_, controller_costmap_ros_);
recovery_behaviors_.push_back(behavior);
}
catch(pluginlib::PluginlibException& ex){
ROS_ERROR("Failed to load a plugin. Using default recovery behaviors. Error: %s", ex.what());
return false;
}
}
}
else{
ROS_ERROR("The recovery behavior specification must be a list, but is of XmlRpcType %d. We'll use the default recovery behaviors instead.",
behavior_list.getType());
return false;
}
}
else{
//if no recovery_behaviors are specified, we'll just load the defaults
return false;
}
//if we've made it here... we've constructed a recovery behavior list successfully
return true;
}
//we'll load our default recovery behaviors here
void MoveBase::loadDefaultRecoveryBehaviors(){
recovery_behaviors_.clear();
try{
//we need to set some parameters based on what's been passed in to us to maintain backwards compatibility
ros::NodeHandle n("~");
n.setParam("conservative_reset/reset_distance", conservative_reset_dist_);
n.setParam("aggressive_reset/reset_distance", circumscribed_radius_ * 4);
//first, we'll load a recovery behavior to clear the costmap
boost::shared_ptr<nav_core::RecoveryBehavior> cons_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery"));
cons_clear->initialize("conservative_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_);
recovery_behaviors_.push_back(cons_clear);
//next, we'll load a recovery behavior to rotate in place
boost::shared_ptr<nav_core::RecoveryBehavior> rotate(recovery_loader_.createInstance("rotate_recovery/RotateRecovery"));
if(clearing_rotation_allowed_){
rotate->initialize("rotate_recovery", &tf_, planner_costmap_ros_, controller_costmap_ros_);
recovery_behaviors_.push_back(rotate);
}
//next, we'll load a recovery behavior that will do an aggressive reset of the costmap
boost::shared_ptr<nav_core::RecoveryBehavior> ags_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery"));
ags_clear->initialize("aggressive_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_);
recovery_behaviors_.push_back(ags_clear);
//we'll rotate in-place one more time
if(clearing_rotation_allowed_)
recovery_behaviors_.push_back(rotate);
}
catch(pluginlib::PluginlibException& ex){
ROS_FATAL("Failed to load a plugin. This should not happen on default recovery behaviors. Error: %s", ex.what());
}
return;
}
void MoveBase::resetState(){
// Disable the planner thread
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
runPlanner_ = false;
lock.unlock();
// Reset statemachine
state_ = PLANNING;
recovery_index_ = 0;
recovery_trigger_ = PLANNING_R;
publishZeroVelocity();
//if we shutdown our costmaps when we're deactivated... we'll do that now
if(shutdown_costmaps_){
ROS_DEBUG_NAMED("move_base","Stopping costmaps");
planner_costmap_ros_->stop();
controller_costmap_ros_->stop();
}
}
bool MoveBase::getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap)
{
tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose);
geometry_msgs::PoseStamped robot_pose;
tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose);
robot_pose.header.frame_id = robot_base_frame_;
robot_pose.header.stamp = ros::Time(); // latest available
ros::Time current_time = ros::Time::now(); // save time for checking tf delay later
// get robot pose on the given costmap frame
try
{
tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID());
}
catch (tf2::LookupException& ex)
{
ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what());
return false;
}
catch (tf2::ConnectivityException& ex)
{
ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what());
return false;
}
catch (tf2::ExtrapolationException& ex)
{
ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what());
return false;
}
// check if global_pose time stamp is within costmap transform tolerance
if (current_time.toSec() - global_pose.header.stamp.toSec() > costmap->getTransformTolerance())
{
ROS_WARN_THROTTLE(1.0, "Transform timeout for %s. " \
"Current time: %.4f, pose stamp: %.4f, tolerance: %.4f", costmap->getName().c_str(),
current_time.toSec(), global_pose.header.stamp.toSec(), costmap->getTransformTolerance());
return false;
}
return true;
}
};
本文标签: 包里功能rosnavigationmovebase
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