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OMPL Plannification
Path planning with OMPL
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ROS implementation class for OMPL_Planner. More...
#include <ROS_OMPL_Planner.hpp>
Public Member Functions | |
ROS_OMPL_Planner (int dimension) | |
Constructor. More... | |
bool | updateMap () |
Request and load the actual map from the Octomap server. | |
void | odomCallback (const nav_msgs::OdometryPtr &odom_msg) |
Callback for getting current vehicle position. | |
bool | findPathToGoal (control_turtlebot::FindPathToGoal::Request &request, control_turtlebot::FindPathToGoal::Response &response) |
Find a path. More... | |
void | visualizeRRT (const og::SimpleSetup simple_setup) |
Procedure to visualize the resulting path. More... | |
void | PublishPath (control_turtlebot::FindPathToGoal::Response &response) |
Publish the resulting path. More... | |
void | PublishPath () |
Publish the resulting path. More... | |
bool | getObstacleFlag () const |
Return the flag representing the validity of the current path. | |
bool | updatePath () |
Update the path. More... | |
~ROS_OMPL_Planner () | |
Destructor. More... | |
ROS implementation class for OMPL_Planner.
Definition at line 34 of file ROS_OMPL_Planner.hpp.
ROS_OMPL_Planner::ROS_OMPL_Planner | ( | int | dimension | ) |
Constructor.
Load planning parameters from configuration file. Create the connection with other ROS nodes. Create the OMPL_Planner instance.
Definition at line 10 of file ROS_OMPL_Planner.cpp.
ROS_OMPL_Planner::~ROS_OMPL_Planner | ( | ) |
bool ROS_OMPL_Planner::findPathToGoal | ( | control_turtlebot::FindPathToGoal::Request & | request, |
control_turtlebot::FindPathToGoal::Response & | response | ||
) |
Find a path.
Find a path from the current position to the goal request. Update the state checker, check the validity of the start/goal state.
Definition at line 115 of file ROS_OMPL_Planner.cpp.
void ROS_OMPL_Planner::PublishPath | ( | control_turtlebot::FindPathToGoal::Response & | response | ) |
Publish the resulting path.
Publish the path on a topic and in response of the request. Display the path. TOPIC : the first state of the path contains the number of states of the path.
Definition at line 306 of file ROS_OMPL_Planner.cpp.
void ROS_OMPL_Planner::PublishPath | ( | ) |
Publish the resulting path.
Publish the path on a topic. Display the path. TOPIC : the first state of the path contains the number of states of the path.
Definition at line 370 of file ROS_OMPL_Planner.cpp.
bool ROS_OMPL_Planner::updatePath | ( | ) |
Update the path.
Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map. Update the state checker and the obstacle_flag.Check the validity of the start/goal state. Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path.
Definition at line 435 of file ROS_OMPL_Planner.cpp.
void ROS_OMPL_Planner::visualizeRRT | ( | const og::SimpleSetup | simple_setup | ) |
Procedure to visualize the resulting path.
Visualize resulting path.
Definition at line 151 of file ROS_OMPL_Planner.cpp.