Base class for creating a plugin in order to perform a specific task at waypoint arrivals. More...
#include <nav2_core/include/nav2_core/waypoint_task_executor.hpp>
Public Member Functions | |
| WaypointTaskExecutor () | |
| Construct a new Simple Task Execution At Waypoint Base object. | |
| virtual | ~WaypointTaskExecutor () |
| Destroy the Simple Task Execution At Waypoint Base object. | |
| virtual void | initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name)=0 |
| Override this to setup your pub, sub or any ros services that you will use in the plugin. More... | |
| virtual bool | processAtWaypoint (const geometry_msgs::msg::PoseStamped &curr_pose, const int &curr_waypoint_index)=0 |
| Override this to define the body of your task that you would like to execute once the robot arrived to waypoint. More... | |
Detailed Description
Base class for creating a plugin in order to perform a specific task at waypoint arrivals.
Definition at line 32 of file waypoint_task_executor.hpp.
Member Function Documentation
◆ initialize()
|
pure virtual |
Override this to setup your pub, sub or any ros services that you will use in the plugin.
- Parameters
-
parent parent node that plugin will be created within(for an example see nav_waypoint_follower) plugin_name plugin name comes from parameters in yaml file
Implemented in nav2_waypoint_follower::WaitAtWaypoint, nav2_waypoint_follower::PhotoAtWaypoint, and nav2_waypoint_follower::InputAtWaypoint.
◆ processAtWaypoint()
|
pure virtual |
Override this to define the body of your task that you would like to execute once the robot arrived to waypoint.
- Parameters
-
curr_pose current pose of the robot curr_waypoint_index current waypoint, that robot just arrived
- Returns
- true if task execution was successful
- false if task execution failed
Implemented in nav2_waypoint_follower::WaitAtWaypoint, nav2_waypoint_follower::PhotoAtWaypoint, and nav2_waypoint_follower::InputAtWaypoint.
The documentation for this class was generated from the following file:
- nav2_core/include/nav2_core/waypoint_task_executor.hpp
