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naturerobots · Nov 21, 2023 · 41327ae · 41327ae
1 parent bab973b
commit 41327ae
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Showing 4 changed files with 41 additions and 61 deletions.
diff --git a/mbf_abstract_nav/include/mbf_abstract_nav/controller_action.h b/mbf_abstract_nav/include/mbf_abstract_nav/controller_action.h
@@ -52,54 +52,42 @@
 namespace mbf_abstract_nav
 {
 
-class ControllerAction :
-    public AbstractActionBase<mbf_msgs::ExePathAction, AbstractControllerExecution>
+class ControllerAction : public AbstractActionBase<mbf_msgs::ExePathAction, AbstractControllerExecution>
 {
- public:
-
+public:
   typedef boost::shared_ptr<ControllerAction> Ptr;
 
-  ControllerAction(const std::string &name,
-                   const mbf_utility::RobotInformation &robot_info);
+  ControllerAction(const std::string& name, const mbf_utility::RobotInformation& robot_info);
 
   /**
    * @brief Start controller action.
    * Override abstract action version to allow updating current plan without stopping execution.
    * @param goal_handle Reference to the goal handle received on action execution callback.
    * @param execution_ptr Pointer to the execution descriptor.
    */
-  void start(
-      GoalHandle &goal_handle,
-      typename AbstractControllerExecution::Ptr execution_ptr
-  );
+  void start(GoalHandle& goal_handle, typename AbstractControllerExecution::Ptr execution_ptr);
 
-  void runImpl(GoalHandle &goal_handle, AbstractControllerExecution& execution);
+  void runImpl(GoalHandle& goal_handle, AbstractControllerExecution& execution);
 
 protected:
-  void publishExePathFeedback(
-          GoalHandle &goal_handle,
-          uint32_t outcome, const std::string &message,
-          const geometry_msgs::TwistStamped &current_twist);
+  void publishExePathFeedback(GoalHandle& goal_handle, uint32_t outcome, const std::string& message,
+                              const geometry_msgs::TwistStamped& current_twist);
 
   /**
    * @brief Utility method to fill the ExePath action result in a single line
    * @param outcome ExePath action outcome
    * @param message ExePath action message
    * @param result The action result to fill
    */
-  void fillExePathResult(
-        uint32_t outcome, const std::string &message,
-        mbf_msgs::ExePathResult &result);
+  void fillExePathResult(uint32_t outcome, const std::string& message, mbf_msgs::ExePathResult& result);
 
-  boost::mutex goal_mtx_; ///< lock goal handle for updating it while running
-  geometry_msgs::PoseStamped robot_pose_; ///< Current robot pose
-  geometry_msgs::PoseStamped goal_pose_;  ///< Current goal pose
+  boost::mutex goal_mtx_;                  ///< lock goal handle for updating it while running
+  geometry_msgs::PoseStamped robot_pose_;  ///< Current robot pose
+  geometry_msgs::PoseStamped goal_pose_;   ///< Current goal pose
 
   //! Publish the current goal pose (the last pose of the path we are following)
   ros::Publisher goal_pub_;
 };
-}
-
-
+}  // namespace mbf_abstract_nav
 
-#endif //MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_
+#endif  // MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_
diff --git a/mbf_abstract_nav/include/mbf_abstract_nav/planner_action.h b/mbf_abstract_nav/include/mbf_abstract_nav/planner_action.h
@@ -49,43 +49,36 @@
 #include "mbf_abstract_nav/abstract_action_base.hpp"
 #include "mbf_abstract_nav/abstract_planner_execution.h"
 
-
-namespace mbf_abstract_nav{
-
+namespace mbf_abstract_nav
+{
 
 class PlannerAction : public AbstractActionBase<mbf_msgs::GetPathAction, AbstractPlannerExecution>
 {
- public:
-
+public:
   typedef boost::shared_ptr<PlannerAction> Ptr;
 
-  PlannerAction(
-      const std::string &name,
-      const mbf_utility::RobotInformation &robot_info
-  );
-
-  void runImpl(GoalHandle &goal_handle, AbstractPlannerExecution &execution);
+  PlannerAction(const std::string& name, const mbf_utility::RobotInformation& robot_info);
 
- protected:
+  void runImpl(GoalHandle& goal_handle, AbstractPlannerExecution& execution);
 
+protected:
   /**
    * @brief Transforms a plan to the global frame (global_frame_) coord system.
    * @param plan Input plan to be transformed.
    * @param global_plan Output plan, which is then transformed to the global frame.
    * @return true, if the transformation succeeded, false otherwise
    */
-   bool transformPlanToGlobalFrame(const std::vector<geometry_msgs::PoseStamped>& plan,
-                                   std::vector<geometry_msgs::PoseStamped>& global_plan);
-
- private:
+  bool transformPlanToGlobalFrame(const std::vector<geometry_msgs::PoseStamped>& plan,
+                                  std::vector<geometry_msgs::PoseStamped>& global_plan);
 
+private:
   //! Publisher to publish the current goal pose, which is used for path planning
   ros::Publisher goal_pub_;
 
   //! Path sequence counter
   unsigned int path_seq_count_;
 };
 
-} /* mbf_abstract_nav */
+}  // namespace mbf_abstract_nav
 
 #endif /* MBF_ABSTRACT_NAV__PLANNER_ACTION_H_ */
diff --git a/mbf_abstract_nav/src/abstract_controller_execution.cpp b/mbf_abstract_nav/src/abstract_controller_execution.cpp
@@ -48,17 +48,17 @@ namespace mbf_abstract_nav
 const double AbstractControllerExecution::DEFAULT_CONTROLLER_FREQUENCY = 100.0; // 100 Hz
 
 AbstractControllerExecution::AbstractControllerExecution(
-    const std::string &name,
-    const mbf_abstract_core::AbstractController::Ptr &controller_ptr,
-    const mbf_utility::RobotInformation &robot_info,
-    const ros::Publisher &vel_pub,
-    const MoveBaseFlexConfig &config) :
-  AbstractExecutionBase(name, robot_info),
-    controller_(controller_ptr),
-    state_(INITIALIZED), moving_(false), max_retries_(0), patience_(0), vel_pub_(vel_pub),
-    loop_rate_(DEFAULT_CONTROLLER_FREQUENCY)
+    const std::string& name, const mbf_abstract_core::AbstractController::Ptr& controller_ptr,
+    const mbf_utility::RobotInformation& robot_info, const ros::Publisher& vel_pub, const MoveBaseFlexConfig& config)
+  : AbstractExecutionBase(name, robot_info)
+  , controller_(controller_ptr)
+  , state_(INITIALIZED)
+  , moving_(false)
+  , max_retries_(0)
+  , patience_(0)
+  , vel_pub_(vel_pub)
+  , loop_rate_(DEFAULT_CONTROLLER_FREQUENCY)
 {
-  ros::NodeHandle nh;
   ros::NodeHandle private_nh("~");
 
   // non-dynamically reconfigurable parameters

diff --git a/mbf_costmap_nav/src/mbf_costmap_nav/costmap_controller_execution.cpp b/mbf_costmap_nav/src/mbf_costmap_nav/costmap_controller_execution.cpp
@@ -42,15 +42,14 @@
 namespace mbf_costmap_nav
 {
 
-CostmapControllerExecution::CostmapControllerExecution(
-    const std::string &controller_name,
-    const mbf_costmap_core::CostmapController::Ptr &controller_ptr,
-    const mbf_utility::RobotInformation &robot_info,
-    const ros::Publisher &vel_pub,
-    const CostmapWrapper::Ptr &costmap_ptr,
-    const MoveBaseFlexConfig &config)
-      : AbstractControllerExecution(controller_name, controller_ptr, robot_info, vel_pub, toAbstract(config)),
-        costmap_ptr_(costmap_ptr)
+CostmapControllerExecution::CostmapControllerExecution(const std::string& controller_name,
+                                                       const mbf_costmap_core::CostmapController::Ptr& controller_ptr,
+                                                       const mbf_utility::RobotInformation& robot_info,
+                                                       const ros::Publisher& vel_pub,
+                                                       const CostmapWrapper::Ptr& costmap_ptr,
+                                                       const MoveBaseFlexConfig& config)
+  : AbstractControllerExecution(controller_name, controller_ptr, robot_info, vel_pub, toAbstract(config))
+  , costmap_ptr_(costmap_ptr)
 {
   ros::NodeHandle private_nh("~");
   private_nh.param("controller_lock_costmap", lock_costmap_, true);