nav2_route::RouteTracker Class Reference

Takes a processing route request and tracks it for progress in accordance with executing behavioral operations. More...

#include <nav2_route/include/nav2_route/route_tracker.hpp>

Collaboration diagram for nav2_route::RouteTracker:

Public Types
using	ActionServerTrack = nav2_util::SimpleActionServer< nav2_msgs::action::ComputeAndTrackRoute >
using	Feedback = nav2_msgs::action::ComputeAndTrackRoute::Feedback

Public Member Functions
	RouteTracker ()=default
	A constructor for nav2_route::RouteTracker.
	~RouteTracker ()=default
	A constructor for nav2_route::RouteTracker.
void	configure (nav2_util::LifecycleNode::SharedPtr node, std::shared_ptr< tf2_ros::Buffer > tf_buffer, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, std::shared_ptr< ActionServerTrack > action_server, const std::string &route_frame, const std::string &base_frame)
	Configure route tracker. More...
bool	nodeAchieved (const geometry_msgs::msg::PoseStamped &pose, RouteTrackingState &state, const Route &route)
	Determine if a node is to be considered achieved at the current position. More...
bool	isStartOrEndNode (RouteTrackingState &state, const Route &route)
	Determine if a node is the start or last node in the route. More...
geometry_msgs::msg::PoseStamped	getRobotPose ()
	Get the current robot's base_frame pose in route_frame. More...
void	publishFeedback (const bool rereouted, const unsigned int next_node_id, const unsigned int last_node_id, const unsigned int edge_id, const std::vector< std::string > &operations)
	A utility to publish feedback for the action on important changes. More...
TrackerResult	trackRoute (const Route &route, const nav_msgs::msg::Path &path, ReroutingState &rerouting_info)
	Main function to track route, manage state, and trigger operations. More...

Protected Attributes
nav2_msgs::msg::Route	route_msg_
nav_msgs::msg::Path	path_
std::string	route_frame_
std::string	base_frame_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("RouteTracker")}
double	radius_threshold_
double	boundary_radius_threshold_
double	tracker_update_rate_
bool	aggregate_blocked_ids_
std::shared_ptr< ActionServerTrack >	action_server_
std::unique_ptr< OperationsManager >	operations_manager_
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

Detailed Description

Takes a processing route request and tracks it for progress in accordance with executing behavioral operations.

Definition at line 38 of file route_tracker.hpp.

Member Function Documentation

configure()

void nav2_route::RouteTracker::configure	(	nav2_util::LifecycleNode::SharedPtr	node,
		std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_subscriber,
		std::shared_ptr< ActionServerTrack >	action_server,
		const std::string &	route_frame,
		const std::string &	base_frame
	)

Configure route tracker.

Parameters

node	Node to grab info from
route_frame	Frame of route navigation

Definition at line 20 of file route_tracker.cpp.

getRobotPose()

geometry_msgs::msg::PoseStamped nav2_route::RouteTracker::getRobotPose

(

)

Get the current robot's base_frame pose in route_frame.

Returns

Robot pose

Definition at line 51 of file route_tracker.cpp.

isStartOrEndNode()

bool nav2_route::RouteTracker::isStartOrEndNode	(	RouteTrackingState &	state,
		const Route &	route
	)

Determine if a node is the start or last node in the route.

Parameters

idx	Idx of the current edge being tracked
route	Route to check

Returns

bool if this node is the last node

Definition at line 120 of file route_tracker.cpp.

Referenced by nodeAchieved().

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nodeAchieved()

bool nav2_route::RouteTracker::nodeAchieved	(	const geometry_msgs::msg::PoseStamped &	pose,
		RouteTrackingState &	state,
		const Route &	route
	)

Determine if a node is to be considered achieved at the current position.

Parameters

pose	Current robot pose to query
state	Tracker state
route	Route to check against

Returns

bool if node is achieved

Definition at line 60 of file route_tracker.cpp.

References isStartOrEndNode().

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publishFeedback()

void nav2_route::RouteTracker::publishFeedback	(	const bool	rereouted,
		const unsigned int	next_node_id,
		const unsigned int	last_node_id,
		const unsigned int	edge_id,
		const std::vector< std::string > &	operations
	)

A utility to publish feedback for the action on important changes.

Parameters

rerouted	If the route has been rerouted
next_node_id	Id of the next node the route is to pass
last_node_id	Id of the last node the route passed
edge_id	Id of the current edge being processed
operations	A set of operations which were performed this iteration

Definition at line 129 of file route_tracker.cpp.

Referenced by trackRoute().

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trackRoute()

TrackerResult nav2_route::RouteTracker::trackRoute	(	const Route &	route,
		const nav_msgs::msg::Path &	path,
		ReroutingState &	rerouting_info
	)

Main function to track route, manage state, and trigger operations.

Parameters

route	Route to track progress of
path	Path that comprises this route for publication of feedback messages
blocked_ids	A set of blocked IDs to modify if rerouting is necessary

Returns

TrackerResult if the route is completed, should be rerouted, or was interrupted

Definition at line 147 of file route_tracker.cpp.

References publishFeedback().

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

• nav2_route/include/nav2_route/route_tracker.hpp
• nav2_route/src/route_tracker.cpp