MoveBase源码阅读笔记

1 构造函数 MoveBase

构造函数MoveBase::MoveBase()为该节点的入口，初始化了相关变量，加载recovery behaviors，局部和全局的地图、路径规划器等plugin，以及开启服务和线程等。该函数中定义了多个ros::NodeHandle变量，其作用主要是给出开话题的命名空间和区分私有话题（内部线程间通信），具体可参考ros官网的说明和ros::NodeHandle博客,rosrun move_base move_base后可以看到其节点的话题情况。

ros::NodeHandle private_nh("~");
ros::NodeHandle nh;

构造函数中采用了actionlib给出了可中断、及时反馈状态的服务接口, executeCb()为服务回调函数。对外给出了导航目标点话题为/move_base_simple/goal ，在goalCB()回调函数中给将其转化为as_服务器的MoveBaseActionGoal格式目标，并发布到话题/move_base/goal，其实该话题为就是actionlib服务器的目标话题，从而进入executeCb()回调函数（与官方例程中定义客户端发送目标不同，个人认为原理上就是订阅该目标话题进入回调函数）。

as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false);
ros::NodeHandle simple_nh("move_base_simple");
goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, boost::bind(&MoveBase::goalCB, this, _1));

开启了规划线程planThread()函数：

//set up the planner's thread
planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this));

发布两个服务，规划和清除地图;

//advertise a service for getting a plan
make_plan_srv_ = private_nh.advertiseService("make_plan", &MoveBase::planService, this);
//advertise a service for clearing the costmaps
clear_costmaps_srv_ = private_nh.advertiseService("clear_costmaps", &MoveBase::clearCostmapsService, this);

2 目标点action服务回调函数 executeCb

代码如下，得到新的目标位置会唤醒planThread规划全局路径，整体状态的操作在executeCycle函数中执行，在循环中一直执行。
movebase状态机有三种：

1. PLANNING 全局路径规划状态
2. CONTROLLING 局部控制状态
3. CLEARING 故障恢复状态：故障恢复触发的方式也有三种 PLANNING_R（全局路径规划）, CONTROLLING_R（局部路径规划）, OSCILLATION_R（振荡摆动）

   //　转为全局坐标系位置
    geometry_msgs::PoseStamped goal = goalToGlobalFrame(move_base_goal->target_pose);
    //we have a goal so start the planner　唤醒planThread线程开始规划
    boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
    planner_goal_ = goal;
    runPlanner_ = true;
    planner_cond_.notify_one();
    lock.unlock();
    ros::NodeHandle n;
    while(n.ok())
    {
        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
           // 如果目标被抢占且收到新目标，继续在该函数中执行上述操作(个人理解executeCb回调函数没有运行完时收到新目标会继续新的规划和没有终止)
          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　唤醒规划进程
          lock.lock();
          planner_goal_ = goal;
          runPlanner_ = true;
          planner_cond_.notify_one();
          lock.unlock();
        }
        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  终止
          return;
        }
      }
      //we also want to check if we've changed global frames because we need to transform our goal pose 
      // 检查目标是否改变，若没用继续执行上述操作
      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();
      }
      //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 主要工作在executeCycle()函数中
      bool done = executeCycle(goal, global_plan);
      //if we're done, then we'll return from execute  完成目标终止回调
      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;

3 主循环状态控制函数executeCycle

executeCylcle函数会将新生成的全局路径给到局部控制器，根据状态机对整体状态进行切换，CONTROLLING状态时局部规划器中computeVelocityCommands计算速度。

 //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  反馈goal服务状态
    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 判断是否振荡TODO
    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
    // 新的全局路径生成给局部控制器
    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状态机导航
    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()));
        // 计算速度
        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;

4 全局规划线程 planThread

代码如下，其中调用 makePlan函数进行全局规划 planner_->makePlan(start, goal, plan)

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) 等待唤醒同步
      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  规划开始
      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_);   // 全局规划函数
      if(gotPlan){   //规划成功
        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;  // 新的全局规划路径
        //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)
      // 全局路径规划失败
      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_++;
        // 若规划时间超时或次数超限 则进入 CLEARING状态， recovery 恢复模式
        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;
          // 小于要求的规划时间，则sleep多余的时间来唤醒该进程， wait_for_wake为True后下一个循环线程将进入等待
          // 状态，定时器函数wakePlanner将唤醒本线程，若planner_frequency=0则只在有新目标时候才唤醒本线程
          timer = n.createTimer(sleep_time, &MoveBase::wakePlanner, this);
        }
      }
    }