movebase导航和地图数据的使用 - 3 movebase的初始化分析

MoveBase::MoveBase(tf::TransformListener& 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) {

//这个actionserver使用了actionlib中的逻辑，actionlib提供了一套框架，可以建立一个server,client可以发送可抢断的taskrequest, 可以将之前的taskrequest取消，覆盖。并且可以不断得到反馈的框架。，基于此框架，每当有新的targetgoal被设定时，会执行executeCb函数。

as_ = newMoveBaseActionServer(ros::NodeHandle(), "move_base",boost::bind(&MoveBase::executeCb, this, _1), false);

ros::NodeHandleprivate_nh("~"); 使用privatenamespace的handle,也就是使用move_base作为ns的handle.

ros::NodeHandle nh;

recovery_trigger_ = PLANNING_R;

//get some parameters that will be global to the move basenode

std::string global_planner, local_planner;

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"));

//实际使用的global/localplanner