nav2_controller::PositionGoalChecker Class Reference

Goal Checker plugin that only checks XY position, ignoring orientation. More...

#include <nav2_controller/include/nav2_controller/plugins/position_goal_checker.hpp>

Inheritance diagram for nav2_controller::PositionGoalChecker:

Collaboration diagram for nav2_controller::PositionGoalChecker:

Public Member Functions
void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Initialize any parameters from the NodeHandle. More...
void	reset () override
bool	isGoalReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity) override
	Check whether the goal should be considered reached. More...
bool	getTolerances (geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance) override
	Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y). More...
void	setXYGoalTolerance (double tolerance)
	Set the XY goal tolerance. More...

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Attributes
double	xy_goal_tolerance_
double	xy_goal_tolerance_sq_
bool	stateful_
bool	position_reached_
std::string	plugin_name_
rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

Additional Inherited Members
Public Types inherited from nav2_core::GoalChecker
typedef std::shared_ptr< nav2_core::GoalChecker >	Ptr

Detailed Description

Goal Checker plugin that only checks XY position, ignoring orientation.

Definition at line 33 of file position_goal_checker.hpp.

Member Function Documentation

dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::PositionGoalChecker::dynamicParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Callback executed when a parameter change is detected.

Parameters

parameters

list of changed parameters

Definition at line 123 of file position_goal_checker.cpp.

getTolerances()

bool nav2_controller::PositionGoalChecker::getTolerances ( geometry_msgs::msg::Pose &  pose_tolerance, geometry_msgs::msg::Twist &  vel_tolerance  )

overridevirtual

Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y).

Parameters

pose_tolerance	The tolerance used for checking in Pose fields
vel_tolerance	The tolerance used for checking velocity fields

Returns

True if the tolerances are valid to use

Implements nav2_core::GoalChecker.

Definition at line 89 of file position_goal_checker.cpp.

initialize()

void nav2_controller::PositionGoalChecker::initialize ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent, const std::string &  plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros  )

overridevirtual

Initialize any parameters from the NodeHandle.

Parameters

parent

Node pointer for grabbing parameters

Implements nav2_core::GoalChecker.

Definition at line 36 of file position_goal_checker.cpp.

isGoalReached()

bool nav2_controller::PositionGoalChecker::isGoalReached ( const geometry_msgs::msg::Pose &  query_pose, const geometry_msgs::msg::Pose &  goal_pose, const geometry_msgs::msg::Twist &  velocity  )

overridevirtual

Check whether the goal should be considered reached.

Parameters

query_pose	The pose to check
goal_pose	The pose to check against
velocity	The robot's current velocity

Returns

True if goal is reached

Implements nav2_core::GoalChecker.

Definition at line 66 of file position_goal_checker.cpp.

setXYGoalTolerance()

void nav2_controller::PositionGoalChecker::setXYGoalTolerance

(

double

tolerance

)

Set the XY goal tolerance.

Parameters

tolerance

New tolerance value

Definition at line 116 of file position_goal_checker.cpp.

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

• nav2_controller/include/nav2_controller/plugins/position_goal_checker.hpp
• nav2_controller/plugins/position_goal_checker.cpp