nav2_behaviors::AssistedTeleop Class Reference

An action server behavior for assisted teleop. More...

#include <nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp>

Inheritance diagram for nav2_behaviors::AssistedTeleop:

Collaboration diagram for nav2_behaviors::AssistedTeleop:

Public Member Functions
Status	onRun (const std::shared_ptr< const AssistedTeleopAction::Goal > command) override
	Initialization to run behavior. More...
void	onActionCompletion () override
	func to run at the completion of the action
Status	onCycleUpdate () override
	Loop function to run behavior. More...
Public Member Functions inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
	TimedBehavior ()
	A TimedBehavior constructor.
virtual Status	onRun (const std::shared_ptr< const typename ActionT::Goal > command)=0
virtual void	onCleanup ()
void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > collision_checker) override
void	cleanup () override
	Method to cleanup resources used on shutdown.
void	activate () override
	Method to active Behavior and any threads involved in execution.
void	deactivate () override
	Method to deactive Behavior and any threads involved in execution.
Public Member Functions inherited from nav2_core::Behavior
virtual	~Behavior ()
	Virtual destructor.

Protected Member Functions
void	onConfigure () override
	Configuration of behavior action.
geometry_msgs::msg::Pose2D	projectPose (const geometry_msgs::msg::Pose2D &pose, const geometry_msgs::msg::Twist &twist, double projection_time)
	project a position More...
void	teleopVelocityCallback (const geometry_msgs::msg::Twist::SharedPtr msg)
	Callback function for velocity subscriber. More...
void	preemptTeleopCallback (const std_msgs::msg::Empty::SharedPtr msg)
	Callback function to preempt assisted teleop. More...
Protected Member Functions inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
void	execute ()
void	stopRobot ()

Protected Attributes
AssistedTeleopAction::Feedback::SharedPtr	feedback_
double	projection_time_
double	simulation_time_step_
geometry_msgs::msg::Twist	teleop_twist_
bool	preempt_teleop_ {false}
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	vel_sub_
rclcpp::Subscription< std_msgs::msg::Empty >::SharedPtr	preempt_teleop_sub_
rclcpp::Duration	command_time_allowance_ {0, 0}
rclcpp::Time	end_time_
Protected Attributes inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
std::string	behavior_name_
rclcpp_lifecycle::LifecyclePublisher< geometry_msgs::msg::Twist >::SharedPtr	vel_pub_
std::shared_ptr< ActionServer >	action_server_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	collision_checker_
std::shared_ptr< tf2_ros::Buffer >	tf_
double	cycle_frequency_
double	enabled_
std::string	global_frame_
std::string	robot_base_frame_
double	transform_tolerance_
rclcpp::Duration	elasped_time_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_

Additional Inherited Members
Public Types inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
using	ActionServer = nav2_util::SimpleActionServer< AssistedTeleopAction >
Public Types inherited from nav2_core::Behavior
using	Ptr = std::shared_ptr< Behavior >

Detailed Description

An action server behavior for assisted teleop.

Definition at line 35 of file assisted_teleop.hpp.

Member Function Documentation

onCycleUpdate()

Status nav2_behaviors::AssistedTeleop::onCycleUpdate ( )

overridevirtual

Loop function to run behavior.

Returns

Status of behavior

Implements nav2_behaviors::TimedBehavior< AssistedTeleopAction >.

Definition at line 80 of file assisted_teleop.cpp.

onRun()

Status nav2_behaviors::AssistedTeleop::onRun ( const std::shared_ptr< const AssistedTeleopAction::Goal >  command )

override

Initialization to run behavior.

Parameters

command

Goal to execute

Returns

Status of behavior

Definition at line 66 of file assisted_teleop.cpp.

preemptTeleopCallback()

void nav2_behaviors::AssistedTeleop::preemptTeleopCallback ( const std_msgs::msg::Empty::SharedPtr  msg )

protected

Callback function to preempt assisted teleop.

Parameters

msg	empty message

Definition at line 178 of file assisted_teleop.cpp.

projectPose()

geometry_msgs::msg::Pose2D nav2_behaviors::AssistedTeleop::projectPose ( const geometry_msgs::msg::Pose2D &  pose, const geometry_msgs::msg::Twist &  twist, double  projection_time  )

protected

project a position

Parameters

pose	initial pose to project
twist	velocity to project pose by
projection_time	time to project by

Definition at line 153 of file assisted_teleop.cpp.

teleopVelocityCallback()

void nav2_behaviors::AssistedTeleop::teleopVelocityCallback ( const geometry_msgs::msg::Twist::SharedPtr  msg )

protected

Callback function for velocity subscriber.

Parameters

msg	received Twist message

Definition at line 173 of file assisted_teleop.cpp.

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The documentation for this class was generated from the following files:

• nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp
• nav2_behaviors/plugins/assisted_teleop.cpp