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navigations/nav_core/CHANGELOG.rst Executable file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package nav_core
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.17.3 (2023-01-10)
-------------------
1.17.2 (2022-06-20)
-------------------
1.17.1 (2020-08-27)
-------------------
1.17.0 (2020-04-02)
-------------------
* Merge pull request `#982 <https://github.com/ros-planning/navigation/issues/982>`_ from ros-planning/noetic_prep
Noetic Migration
* increase required cmake version
* Contributors: Michael Ferguson
1.16.6 (2020-03-18)
-------------------
1.16.5 (2020-03-15)
-------------------
1.16.4 (2020-03-04)
-------------------
1.16.3 (2019-11-15)
-------------------
1.16.2 (2018-07-31)
-------------------
1.16.1 (2018-07-28)
-------------------
1.16.0 (2018-07-25)
-------------------
* Switch to TF2 `#755 <https://github.com/ros-planning/navigation/issues/755>`_
* unify parameter names between base_local_planner and dwa_local_planner
addresses parts of `#90 <https://github.com/ros-planning/navigation/issues/90>`_
* fix param names of RotateRecovery, closes `#706 <https://github.com/ros-planning/navigation/issues/706>`_
* Contributors: David V. Lu, Michael Ferguson, Vincent Rabaud
1.15.2 (2018-03-22)
-------------------
* Merge pull request `#673 <https://github.com/ros-planning/navigation/issues/673>`_ from ros-planning/email_update_lunar
update maintainer email (lunar)
* Merge pull request `#649 <https://github.com/ros-planning/navigation/issues/649>`_ from aaronhoy/lunar_add_ahoy
Add myself as a maintainer.
* Contributors: Aaron Hoy, Michael Ferguson
1.15.1 (2017-08-14)
-------------------
1.15.0 (2017-08-07)
-------------------
* convert packages to format2
* makePlan overload must return.
* Contributors: Eric Tappan, Mikael Arguedas
1.14.0 (2016-05-20)
-------------------
1.13.1 (2015-10-29)
-------------------
* Merge pull request `#338 <https://github.com/ros-planning/navigation/issues/338>`_ from mikeferguson/planner_review
* fix doxygen, couple style fixes
* Contributors: Michael Ferguson
1.13.0 (2015-03-17)
-------------------
* adding makePlan function with returned cost to base_global_planner
* Contributors: phil0stine
1.12.0 (2015-02-04)
-------------------
* update maintainer email
* Contributors: Michael Ferguson
1.11.15 (2015-02-03)
--------------------
1.11.14 (2014-12-05)
--------------------
1.11.13 (2014-10-02)
--------------------
1.11.12 (2014-10-01)
--------------------
1.11.11 (2014-07-23)
--------------------
1.11.10 (2014-06-25)
--------------------
1.11.9 (2014-06-10)
-------------------
1.11.8 (2014-05-21)
-------------------
1.11.7 (2014-05-21)
-------------------
1.11.4 (2013-09-27)
-------------------
* Package URL Updates

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navigations/nav_core/CMakeLists.txt Executable file
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cmake_minimum_required(VERSION 3.0.2)
project(nav_core)
find_package(catkin REQUIRED
COMPONENTS
std_msgs
geometry_msgs
tf2_ros
costmap_2d
)
catkin_package(
INCLUDE_DIRS
include
CATKIN_DEPENDS
std_msgs
geometry_msgs
tf2_ros
costmap_2d
)
## Install project namespaced headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE)

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navigations/nav_core/include/nav_core/base_global_planner.h Executable file
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef NAV_CORE_BASE_GLOBAL_PLANNER_H
#define NAV_CORE_BASE_GLOBAL_PLANNER_H
#include <geometry_msgs/PoseStamped.h>
#include <costmap_2d/costmap_2d_ros.h>
namespace nav_core {
/**
* @class BaseGlobalPlanner
* @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface.
*/
class BaseGlobalPlanner{
public:
/**
* @brief Given a goal pose in the world, compute a plan
* @param start The start pose
* @param goal The goal pose
* @param plan The plan... filled by the planner
* @return True if a valid plan was found, false otherwise
*/
virtual bool makePlan(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;
/**
* @brief Given a goal pose in the world, compute a plan
* @param start The start pose
* @param goal The goal pose
* @param plan The plan... filled by the planner
* @param cost The plans calculated cost
* @return True if a valid plan was found, false otherwise
*/
virtual bool makePlan(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan,
double& cost)
{
cost = 0;
return makePlan(start, goal, plan);
}
/**
* @brief Initialization function for the BaseGlobalPlanner
* @param name The name of this planner
* @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning
*/
virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0;
/**
* @brief Virtual destructor for the interface
*/
virtual ~BaseGlobalPlanner(){}
protected:
BaseGlobalPlanner(){}
};
}; // namespace nav_core
#endif // NAV_CORE_BASE_GLOBAL_PLANNER_H

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navigations/nav_core/include/nav_core/base_local_planner.h Executable file
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef NAV_CORE_BASE_LOCAL_PLANNER_H
#define NAV_CORE_BASE_LOCAL_PLANNER_H
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/buffer.h>
namespace nav_core {
/**
* @class BaseLocalPlanner
* @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface.
*/
class BaseLocalPlanner{
public:
/**
* @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base
* @param cmd_vel Will be filled with the velocity command to be passed to the robot base
* @return True if a valid velocity command was found, false otherwise
*/
virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;
/**
* @brief Check if the goal pose has been achieved by the local planner
* @return True if achieved, false otherwise
*/
virtual bool isGoalReached() = 0;
/**
* @brief Set the plan that the local planner is following
* @param plan The plan to pass to the local planner
* @return True if the plan was updated successfully, false otherwise
*/
virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
/**
* @brief Constructs the local planner
* @param name The name to give this instance of the local planner
* @param tf A pointer to a transform listener
* @param costmap_ros The cost map to use for assigning costs to local plans
*/
virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
/**
* @brief Virtual destructor for the interface
*/
virtual ~BaseLocalPlanner(){}
protected:
BaseLocalPlanner(){}
};
}; // namespace nav_core
#endif // NAV_CORE_BASE_LOCAL_PLANNER_H

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navigations/nav_core/include/nav_core/parameter_magic.h Executable file
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2018, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of OSRF nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: David Lu
*********************************************************************/
#ifndef NAV_CORE_PARAMETER_MAGIC_H
#define NAV_CORE_PARAMETER_MAGIC_H
namespace nav_core
{
/**
* @brief Load a parameter from one of two namespaces. Complain if it uses the old name.
* @param nh NodeHandle to look for the parameter in
* @param current_name Parameter name that is current, i.e. not deprecated
* @param old_name Deprecated parameter name
* @param default_value If neither parameter is present, return this value
* @return The value of the parameter or the default value
*/
template<class param_t>
param_t loadParameterWithDeprecation(const ros::NodeHandle& nh, const std::string current_name,
const std::string old_name, const param_t& default_value)
{
param_t value;
if (nh.hasParam(current_name))
{
nh.getParam(current_name, value);
return value;
}
if (nh.hasParam(old_name))
{
ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str());
nh.getParam(old_name, value);
return value;
}
return default_value;
}
/**
* @brief Warn if a parameter exists under a deprecated (and unsupported) name.
*
* Parameters loaded exclusively through dynamic reconfigure can't really use loadParamWithDeprecation.
*/
void warnRenamedParameter(const ros::NodeHandle& nh, const std::string current_name, const std::string old_name)
{
if (nh.hasParam(old_name))
{
ROS_WARN("Parameter %s is deprecated (and will not load properly). Use %s instead.", old_name.c_str(), current_name.c_str());
}
}
} // namespace nav_core
#endif // NAV_CORE_PARAMETER_MAGIC_H

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navigations/nav_core/include/nav_core/recovery_behavior.h Executable file
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef NAV_CORE_RECOVERY_BEHAVIOR_H
#define NAV_CORE_RECOVERY_BEHAVIOR_H
#include <costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/buffer.h>
namespace nav_core {
/**
* @class RecoveryBehavior
* @brief Provides an interface for recovery behaviors used in navigation. All recovery behaviors written as plugins for the navigation stack must adhere to this interface.
*/
class RecoveryBehavior{
public:
/**
* @brief Initialization function for the RecoveryBehavior
* @param tf A pointer to a transform listener
* @param global_costmap A pointer to the global_costmap used by the navigation stack
* @param local_costmap A pointer to the local_costmap used by the navigation stack
*/
virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap) = 0;
/**
* @brief Runs the RecoveryBehavior
*/
virtual void runBehavior() = 0;
/**
* @brief Virtual destructor for the interface
*/
virtual ~RecoveryBehavior(){}
protected:
RecoveryBehavior(){}
};
}; // namespace nav_core
#endif // NAV_CORE_RECOVERY_BEHAVIOR_H

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navigations/nav_core/package.xml Executable file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>nav_core</name>
<version>1.17.3</version>
<description>
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
</description>
<author>Eitan Marder-Eppstein</author>
<author>contradict@gmail.com</author>
<maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
<maintainer email="mfergs7@gmail.com">Michael Ferguson</maintainer>
<maintainer email="ahoy@fetchrobotics.com">Aaron Hoy</maintainer>
<license>BSD</license>
<url>http://wiki.ros.org/nav_core</url>
<buildtool_depend>catkin</buildtool_depend>
<depend>costmap_2d</depend>
<depend>geometry_msgs</depend>
<depend>std_msgs</depend>
<depend>tf2_ros</depend>
</package>