21 #ifndef __PLUGINS_NAVGRAPH_NAVGRAPH_THREAD_H_ 22 #define __PLUGINS_NAVGRAPH_NAVGRAPH_THREAD_H_ 24 #ifdef HAVE_VISUALIZATION 25 # include "visualization_thread.h" 28 #include <core/threading/thread.h> 29 #include <aspect/blocked_timing.h> 30 #include <aspect/clock.h> 31 #include <aspect/configurable.h> 32 #include <aspect/logging.h> 33 #include <aspect/tf.h> 34 #include <aspect/blackboard.h> 35 #include <aspect/aspect_provider.h> 36 #include <navgraph/aspect/navgraph_inifin.h> 38 #include <interfaces/NavigatorInterface.h> 39 #include <interfaces/NavPathInterface.h> 41 #include <navgraph/navgraph.h> 42 #include <utils/system/fam.h> 44 #include <navgraph/constraints/constraint_repo.h> 62 #ifdef HAVE_VISUALIZATION 71 virtual void finalize();
73 virtual void fam_event(
const char *filename,
unsigned int mask);
79 bool generate_plan(std::string goal);
80 bool generate_plan(std::string goal,
float ori);
81 bool generate_plan(
float x,
float y,
float ori);
87 void send_next_goal();
89 bool node_ori_reached();
91 size_t shortcut_possible();
100 std::string cfg_graph_file_;
101 std::string cfg_base_frame_;
102 std::string cfg_global_frame_;
103 std::string cfg_nav_if_id_;
104 float cfg_resend_interval_;
105 float cfg_replan_interval_;
106 float cfg_replan_factor_;
107 #ifdef HAVE_VISUALIZATION 108 float cfg_visual_interval_;
110 bool cfg_monitor_file_;
111 float cfg_target_time_;
112 float cfg_target_ori_time_;
114 bool cfg_abort_on_error_;
115 bool cfg_enable_path_execution_;
125 bool target_reached_;
126 bool target_ori_reached_;
127 bool target_rotating_;
130 std::string last_node_;
133 bool constrained_plan_;
141 std::string error_reason_;
146 #ifdef HAVE_VISUALIZATION Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
A class for handling time.
Class representing a path for a NavGraph.
Send Marker messages to rviz to show navgraph info.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Thread to perform graph-based path planning.
File Alteration Monitor Listener.
Monitors files for changes.
Thread aspect to log output.
Sub-class representing a navgraph path traversal.
Thread aspect provide a new aspect.
Thread aspect to access configuration data.
NavGraphAspect initializer/finalizer.
NavPathInterface Fawkes BlackBoard Interface.
virtual void run()
Stub to see name in backtrace for easier debugging.
NavigatorInterface Fawkes BlackBoard Interface.