An action server behavior for spinning in. More...
#include <nav2_behaviors/include/nav2_behaviors/plugins/spin.hpp>
Inheritance diagram for nav2_behaviors::Spin:
Collaboration diagram for nav2_behaviors::Spin:
Public Member Functions | |
| Spin () | |
| A constructor for nav2_behaviors::Spin. | |
| Status | onRun (const std::shared_ptr< const SpinAction::Goal > command) override |
| Initialization to run behavior. More... | |
| void | onConfigure () override |
| Configuration of behavior action. | |
| Status | onCycleUpdate () override |
| Loop function to run behavior. More... | |
 Public Member Functions inherited from nav2_behaviors::TimedBehavior< SpinAction > | |
| TimedBehavior () | |
| A TimedBehavior constructor. | |
| virtual Status | onRun (const std::shared_ptr< const typename ActionT::Goal > command)=0 |
| virtual void | onCleanup () |
| virtual void | onActionCompletion () |
| 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 | |
| bool | isCollisionFree (const double &distance, geometry_msgs::msg::Twist *cmd_vel, geometry_msgs::msg::Pose2D &pose2d) |
| Check if pose is collision free. More... | |
| Protected Member Functions inherited from nav2_behaviors::TimedBehavior< SpinAction > | |
| void | execute () |
| void | stopRobot () |
Protected Attributes | |
| SpinAction::Feedback::SharedPtr | feedback_ |
| double | min_rotational_vel_ |
| double | max_rotational_vel_ |
| double | rotational_acc_lim_ |
| double | cmd_yaw_ |
| double | prev_yaw_ |
| double | relative_yaw_ |
| double | simulate_ahead_time_ |
| rclcpp::Duration | command_time_allowance_ {0, 0} |
| rclcpp::Time | end_time_ |
| Protected Attributes inherited from nav2_behaviors::TimedBehavior< SpinAction > | |
| 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< SpinAction > | |
| using | ActionServer = nav2_util::SimpleActionServer< SpinAction > |
| Public Types inherited from nav2_core::Behavior | |
| using | Ptr = std::shared_ptr< Behavior > |
Detailed Description
Member Function Documentation
◆ isCollisionFree()
|
protected |
Check if pose is collision free.
- Parameters
-
distance Distance to check forward cmd_vel current commanded velocity pose2d Current pose
- Returns
- is collision free or not
Definition at line 160 of file spin.cpp.
Referenced by onCycleUpdate().
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◆ onCycleUpdate()
|
overridevirtual |
Loop function to run behavior.
- Returns
- Status of behavior
Implements nav2_behaviors::TimedBehavior< SpinAction >.
Definition at line 99 of file spin.cpp.
References isCollisionFree().
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◆ onRun()
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override |
The documentation for this class was generated from the following files:
