A route operation to process requests from an external server for rerouting. More...

#include <nav2_route/include/nav2_route/plugins/route_operations/rerouting_service.hpp>

Inheritance diagram for nav2_route::ReroutingService:

Collaboration diagram for nav2_route::ReroutingService:

Public Member Functions
	ReroutingService ()=default
	Constructor.

virtual	~ReroutingService ()=default
	destructor

void	configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, const std::string &name) override
	Configure.

std::string	getName () override
	Get name of the plugin for parameter scope mapping. More...

RouteOperationType	processType () override
	Indication that the adjust speed limit route operation is performed on all state changes. More...

OperationResult	perform (NodePtr node, EdgePtr edge_entered, EdgePtr edge_exited, const Route &route, const geometry_msgs::msg::PoseStamped &curr_pose, const Metadata *mdata=nullptr) override
	The main speed limit operation to adjust the maximum speed of the vehicle. More...

void	serviceCb (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< std_srvs::srv::Trigger::Request > request, std::shared_ptr< std_srvs::srv::Trigger::Response > response)
	Service callback to trigger a reroute externally. More...

Public Member Functions inherited from nav2_route::RouteOperation
	RouteOperation ()=default
	Constructor.

virtual	~RouteOperation ()=default
	Destructor.

Protected Attributes
std::string	name_

std::atomic_bool	reroute_

rclcpp::Logger	logger_ {rclcpp::get_logger("ReroutingService")}

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	service_

Additional Inherited Members
Public Types inherited from nav2_route::RouteOperation
using	Ptr = std::shared_ptr< nav2_route::RouteOperation >

Detailed Description

A route operation to process requests from an external server for rerouting.

Definition at line 34 of file rerouting_service.hpp.

Member Function Documentation

◆ getName()

std::string nav2_route::ReroutingService::getName ( )

inlineoverridevirtual

Get name of the plugin for parameter scope mapping.

Returns: Name

Implements nav2_route::RouteOperation.

Definition at line 59 of file rerouting_service.hpp.

Referenced by configure().

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◆ perform()

OperationResult nav2_route::ReroutingService::perform	(	NodePtr	node,
		EdgePtr	edge_entered,
		EdgePtr	edge_exited,
		const Route &	route,
		const geometry_msgs::msg::PoseStamped &	curr_pose,
		const Metadata *	mdata = `nullptr`
	)

overridevirtual

The main speed limit operation to adjust the maximum speed of the vehicle.

Parameters

mdata	Metadata corresponding to the operation in the navigation graph. If metadata is invalid or irrelevant, a nullptr is given
node_achieved	Node achieved, for additional context
edge_entered	Edge entered by node achievement, for additional context
edge_exited	Edge exited by node achievement, for additional context
route	Current route being tracked in full, for additional context
curr_pose	Current robot pose in the route frame, for additional context

Returns: Whether to perform rerouting and report blocked edges in that case

Implements nav2_route::RouteOperation.

Definition at line 50 of file rerouting_service.cpp.

◆ processType()

RouteOperationType nav2_route::ReroutingService::processType ( )

inlineoverridevirtual

Indication that the adjust speed limit route operation is performed on all state changes.

Returns: The type of operation (on graph call, on status changes, or constantly)

Reimplemented from nav2_route::RouteOperation.

Definition at line 66 of file rerouting_service.hpp.

◆ serviceCb()

void nav2_route::ReroutingService::serviceCb	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< std_srvs::srv::Trigger::Request >	request,
		std::shared_ptr< std_srvs::srv::Trigger::Response >	response
	)

Service callback to trigger a reroute externally.

Parameters

request,empty
response,returns	success

Definition at line 40 of file rerouting_service.cpp.

Referenced by configure().

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

nav2_route/include/nav2_route/plugins/route_operations/rerouting_service.hpp
nav2_route/src/plugins/route_operations/rerouting_service.cpp

Public Member Functions