nav2_mppi_controller::MPPIController Class Reference

Inheritance diagram for nav2_mppi_controller::MPPIController:

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Public Member Functions
	MPPIController ()=default
	Constructor for mppi::MPPIController.
void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, const std::shared_ptr< tf2_ros::Buffer > tf, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Configure controller on bringup. More...
void	cleanup () override
	Cleanup resources.
void	activate () override
	Activate controller.
void	deactivate () override
	Deactivate controller.
void	reset ()
	Reset the controller state between tasks.
geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &robot_pose, const geometry_msgs::msg::Twist &robot_speed, nav2_core::GoalChecker *goal_checker) override
	Main method to compute velocities using the optimizer. More...
void	setPlan (const nav_msgs::msg::Path &path) override
	Set new reference path to track. More...
void	setSpeedLimit (const double &speed_limit, const bool &percentage) override
	Set new speed limit from callback. More...
Public Member Functions inherited from nav2_core::Controller
virtual	~Controller ()
	Virtual destructor.

Protected Member Functions
void	visualize (nav_msgs::msg::Path transformed_plan)
	Visualize trajectories. More...

Protected Attributes
std::string	name_
rclcpp_lifecycle::LifecycleNode::WeakPtr	parent_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
std::unique_ptr< ParametersHandler >	parameters_handler_
Optimizer	optimizer_
PathHandler	path_handler_
TrajectoryVisualizer	trajectory_visualizer_
bool	visualize_
double	reset_period_
rclcpp::Time	last_time_called_

Additional Inherited Members
Public Types inherited from nav2_core::Controller
using	Ptr = std::shared_ptr< nav2_core::Controller >

Detailed Description

Definition at line 40 of file controller.hpp.

Member Function Documentation

computeVelocityCommands()

geometry_msgs::msg::TwistStamped nav2_mppi_controller::MPPIController::computeVelocityCommands ( const geometry_msgs::msg::PoseStamped &  robot_pose, const geometry_msgs::msg::Twist &  robot_speed, nav2_core::GoalChecker *  goal_checker  )

overridevirtual

Main method to compute velocities using the optimizer.

Parameters

robot_pose	Robot pose
robot_speed	Robot speed
goal_checker	Pointer to the goal checker for awareness if completed task

Implements nav2_core::Controller.

Definition at line 80 of file controller.cpp.

References mppi::Optimizer::evalControl(), reset(), mppi::PathHandler::transformPath(), and visualize().

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configure()

void nav2_mppi_controller::MPPIController::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent, std::string  name, const std::shared_ptr< tf2_ros::Buffer >  tf, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros  )

overridevirtual

Configure controller on bringup.

Parameters

parent	WeakPtr to node
name	Name of plugin
tf	TF buffer to use
costmap_ros	Costmap2DROS object of environment

Implements nav2_core::Controller.

Definition at line 25 of file controller.cpp.

References mppi::Optimizer::initialize(), mppi::PathHandler::initialize(), and mppi::TrajectoryVisualizer::on_configure().

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setPlan()

void nav2_mppi_controller::MPPIController::setPlan ( const nav_msgs::msg::Path &  path )

overridevirtual

Set new reference path to track.

Parameters

path	Path to track

Implements nav2_core::Controller.

Definition at line 123 of file controller.cpp.

References mppi::PathHandler::setPath().

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setSpeedLimit()

void nav2_mppi_controller::MPPIController::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

overridevirtual

Set new speed limit from callback.

Parameters

speed_limit	Speed limit to use
percentage	Bool if the speed limit is absolute or relative

Implements nav2_core::Controller.

Definition at line 128 of file controller.cpp.

References mppi::Optimizer::setSpeedLimit().

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visualize()

void nav2_mppi_controller::MPPIController::visualize ( nav_msgs::msg::Path  transformed_plan )

protected

Visualize trajectories.

Parameters

transformed_plan

Transformed input plan

Definition at line 116 of file controller.cpp.

References mppi::TrajectoryVisualizer::add(), mppi::Optimizer::getGeneratedTrajectories(), mppi::Optimizer::getOptimizedTrajectory(), and mppi::TrajectoryVisualizer::visualize().

Referenced by computeVelocityCommands().

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

• nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp
• nav2_mppi_controller/src/controller.cpp