Interface

The planner is called via a service. To embed the planner in your own c++ project add the following snipplet:

#include <ros/ros.h>
#include <nbvplanner/nbvp_srv.h>

...

int iteration = 0;
while (ros::ok()) {
  nbvplanner::nbvp_srv planSrv;
  planSrv.request.header.stamp = ros::Time::now();
  planSrv.request.header.seq = iteration;
  planSrv.request.header.frame_id = ros::this_node::getNamespace();
  if (ros::service::call("nbvplanner", planSrv)) {

      ...

      // Process the computed path in planSrv.response.path to make
      // the robot track it

      ...

      iteration++;
    }
  } else {
    ROS_WARN_THROTTLE(1, "Planner not reachable");
    ros::Duration(1.0).sleep();
  }
}

Subscribed Topics

• disparity (stereo_msgs/DisparityImage) - disparity image to subscribe to.
• pointcloud (sensor_msgs/PointCloud2) - pointcloud to subscribe to.
• pointcloud_throttled (sensor_msgs/PointCloud2) - pointcloud to subscribe to, throtteling with time constant defined by the parameter pcl_throttle.
• cam0/camera_info (sensor_msgs/CameraInfo) - left camera info.
• cam1/camera_info (sensor_msgs/CameraInfo) - right camera info.
• pose (geometry_msgs/PoseStamped) - vehicle pose.
• peer_pose_1 (geometry_msgs/PoseStamped) - vehicle pose of peer agent 1 (if applicable).
• peer_pose_2 (geometry_msgs/PoseStamped) - vehicle pose of peer agent 2 (if applicable).
• peer_pose_3 (geometry_msgs/PoseStamped) - vehicle pose of peer agent 3 (if applicable).
• /evasionSegment (multiagent_collision_check::Segment) - path segments of peer agents for collision avoidance (never needs remaping).

Published Topics

• octomap_occupied (visualization_msgs/MarkerArray) - marker array showing occupied octomap cells, colored by z.
• octomap_free (visualization_msgs/MarkerArray) - marker array showing free octomap cells, colored by z.
• octomap_full (octomap_msgs/Octomap) - octomap with full probabilities.
• octomap_binary (octomap_msgs/Octomap) - octomap with binary occupancy - free or occupied, taken by max likelihood of each node.
• inspectionPath (visualization_msgs/Marker) - visualization markers for display in rviz.

Services

• reset_map (std_srvs/Empty) - clear the map.
• publish_all (std_srvs/Empty) - publish all the topics in the above section.
• get_map (octomap_msgs/GetOctomap) - returns binary octomap message.
• save_map (volumetric_msgs/SaveMap) - save map to the specified file_path.
• load_map (volumetric_msgs/LoadMap) - load map from the specified file_path.
• nbvplanner (nbvplanner/nbvp_srv) - plan the next step.