nav2_core::Controller Class Reference

controller interface that acts as a virtual base class for all controller plugins More...

#include <nav2_core/include/nav2_core/controller.hpp>

Inheritance diagram for nav2_core::Controller:

Public Types
using	Ptr = std::shared_ptr< nav2_core::Controller >

Public Member Functions
virtual	~Controller ()
	Virtual destructor.
virtual void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &, std::string name, std::shared_ptr< tf2_ros::Buffer >, std::shared_ptr< nav2_costmap_2d::Costmap2DROS >)=0
virtual void	cleanup ()=0
	Method to cleanup resources.
virtual void	activate ()=0
	Method to active planner and any threads involved in execution.
virtual void	deactivate ()=0
	Method to deactive planner and any threads involved in execution.
virtual void	setPlan (const nav_msgs::msg::Path &path)=0
	local setPlan - Sets the global plan More...
virtual geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::Twist &velocity, nav2_core::GoalChecker *goal_checker)=0
	Controller computeVelocityCommands - calculates the best command given the current pose and velocity. More...
virtual void	setSpeedLimit (const double &speed_limit, const bool &percentage)=0
	Limits the maximum linear speed of the robot. More...

Detailed Description

controller interface that acts as a virtual base class for all controller plugins

Definition at line 60 of file controller.hpp.

Member Function Documentation

computeVelocityCommands()

virtual geometry_msgs::msg::TwistStamped nav2_core::Controller::computeVelocityCommands ( const geometry_msgs::msg::PoseStamped &  pose, const geometry_msgs::msg::Twist &  velocity, nav2_core::GoalChecker *  goal_checker  )

pure virtual

Controller computeVelocityCommands - calculates the best command given the current pose and velocity.

It is presumed that the global plan is already set.

This is mostly a wrapper for the protected computeVelocityCommands function which has additional debugging info.

Parameters

pose	Current robot pose
velocity	Current robot velocity
goal_checker	Pointer to the current goal checker the task is utilizing

Returns

The best command for the robot to drive

Implemented in nav2_mppi_controller::MPPIController, nav2_graceful_controller::GracefulController, nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, and dwb_core::DWBLocalPlanner.

configure()

virtual void nav2_core::Controller::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  , std::string  name, std::shared_ptr< tf2_ros::Buffer >  , std::shared_ptr< nav2_costmap_2d::Costmap2DROS >    )

pure virtual

Parameters

parent	pointer to user's node
costmap_ros	A pointer to the costmap

Implemented in nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, nav2_graceful_controller::GracefulController, dwb_core::DWBLocalPlanner, and nav2_mppi_controller::MPPIController.

setPlan()

virtual void nav2_core::Controller::setPlan ( const nav_msgs::msg::Path &  path )

pure virtual

local setPlan - Sets the global plan

Parameters

path	The global plan

Implemented in nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, nav2_mppi_controller::MPPIController, nav2_graceful_controller::GracefulController, and dwb_core::DWBLocalPlanner.

setSpeedLimit()

virtual void nav2_core::Controller::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

pure virtual

Limits the maximum linear speed of the robot.

Parameters

speed_limit	expressed in absolute value (in m/s) or in percentage from maximum robot speed.
percentage	Setting speed limit in percentage if true or in absolute values in false case.

Implemented in nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, nav2_mppi_controller::MPPIController, nav2_graceful_controller::GracefulController, and dwb_core::DWBLocalPlanner.

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

• nav2_core/include/nav2_core/controller.hpp