Inheritance diagram for nav2_simple_commander.robot_navigator.BasicNavigator:

Collaboration diagram for nav2_simple_commander.robot_navigator.BasicNavigator:

Public Member Functions
def	__init__ (self, node_name='basic_navigator', namespace='')

def	destroyNode (self)

def	destroy_node (self)

def	setInitialPose (self, initial_pose)

def	goThroughPoses (self, poses, behavior_tree='')

def	goToPose (self, pose, behavior_tree='')

def	followWaypoints (self, poses)

def	spin (self, spin_dist=1.57, time_allowance=10)

def	backup (self, backup_dist=0.15, backup_speed=0.025, time_allowance=10)

def	assistedTeleop (self, time_allowance=30)

def	followPath (self, path, controller_id='', goal_checker_id='')

def	cancelTask (self)

def	isTaskComplete (self)

def	getFeedback (self)

def	getResult (self)

def	waitUntilNav2Active (self, navigator='bt_navigator', localizer='amcl')

def	getPath (self, start, goal, planner_id='', use_start=False)

def	getPathThroughPoses (self, start, goals, planner_id='', use_start=False)

def	smoothPath (self, path, smoother_id='', max_duration=2.0, check_for_collision=False)

def	changeMap (self, map_filepath)

def	clearAllCostmaps (self)

def	clearLocalCostmap (self)

def	clearGlobalCostmap (self)

def	getGlobalCostmap (self)

def	getLocalCostmap (self)

def	lifecycleStartup (self)

def	lifecycleShutdown (self)

def	info (self, msg)

def	warn (self, msg)

def	error (self, msg)

def	debug (self, msg)

Public Attributes
	initial_pose

	goal_handle

	result_future

	feedback

	status

	initial_pose_received

	nav_through_poses_client

	nav_to_pose_client

	follow_waypoints_client

	follow_path_client

	compute_path_to_pose_client

	compute_path_through_poses_client

	smoother_client

	spin_client

	backup_client

	assisted_teleop_client

	localization_pose_sub

	initial_pose_pub

	change_maps_srv

	clear_costmap_global_srv

	clear_costmap_local_srv

	get_costmap_global_srv

	get_costmap_local_srv

Detailed Description

Definition at line 47 of file robot_navigator.py.

Member Function Documentation

◆ cancelTask()

def nav2_simple_commander.robot_navigator.BasicNavigator.cancelTask ( self )

Cancel pending task request of any type.

Definition at line 270 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.result_future.

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◆ changeMap()

def nav2_simple_commander.robot_navigator.BasicNavigator.changeMap	(	self,
		map_filepath
	)

Change the current static map in the map server.

Definition at line 435 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.change_maps_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearAllCostmaps()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps ( self )

Clear all costmaps.

Definition at line 450 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap(), and nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap().

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◆ clearGlobalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap ( self )

Clear global costmap.

Definition at line 465 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_global_srv, and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ clearLocalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap ( self )

Clear local costmap.

Definition at line 456 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_local_srv, and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ followPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.followPath	(	self,
		path,
		controller_id = `''`,
		goal_checker_id = `''`
	)

Send a `FollowPath` action request.

Definition at line 246 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_path_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.result_future.

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◆ followWaypoints()

def nav2_simple_commander.robot_navigator.BasicNavigator.followWaypoints	(	self,
		poses
	)

Send a `FollowWaypoints` action request.

Definition at line 163 of file robot_navigator.py.

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◆ getFeedback()

def nav2_simple_commander.robot_navigator.BasicNavigator.getFeedback ( self )

Get the pending action feedback message.

Definition at line 296 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.feedback.

◆ getGlobalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.getGlobalCostmap ( self )

Get the global costmap.

Definition at line 474 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_global_srv, and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getLocalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.getLocalCostmap ( self )

Get the local costmap.

Definition at line 483 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_local_srv, and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.getPath	(	self,
		start,
		goal,
		planner_id = `''`,
		use_start = `False`
	)

Send a `ComputePathToPose` action request.

Definition at line 354 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getPathImpl().

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◆ getPathThroughPoses()

def nav2_simple_commander.robot_navigator.BasicNavigator.getPathThroughPoses	(	self,
		start,
		goals,
		planner_id = `''`,
		use_start = `False`
	)

Send a `ComputePathThroughPoses` action request.

Definition at line 362 of file robot_navigator.py.

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◆ getResult()

def nav2_simple_commander.robot_navigator.BasicNavigator.getResult ( self )

Get the pending action result message.

Definition at line 300 of file robot_navigator.py.

References Cell.status, and nav2_simple_commander.robot_navigator.BasicNavigator.status.

◆ goThroughPoses()

def nav2_simple_commander.robot_navigator.BasicNavigator.goThroughPoses	(	self,
		poses,
		behavior_tree = `''`
	)

Send a `NavThroughPoses` action request.

Definition at line 115 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_through_poses_client, and nav2_simple_commander.robot_navigator.BasicNavigator.result_future.

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◆ goToPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.goToPose	(	self,
		pose,
		behavior_tree = `''`
	)

Send a `NavToPose` action request.

Definition at line 138 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_to_pose_client, and nav2_simple_commander.robot_navigator.BasicNavigator.result_future.

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◆ isTaskComplete()

def nav2_simple_commander.robot_navigator.BasicNavigator.isTaskComplete ( self )

Check if the task request of any type is complete yet.

Definition at line 278 of file robot_navigator.py.

References nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, Cell.status, and nav2_simple_commander.robot_navigator.BasicNavigator.status.

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◆ lifecycleShutdown()

def nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleShutdown ( self )

Shutdown nav2 lifecycle system.

Definition at line 516 of file robot_navigator.py.

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◆ lifecycleStartup()

def nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleStartup ( self )

Startup nav2 lifecycle system.

Definition at line 492 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._waitForInitialPose(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ setInitialPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.setInitialPose	(	self,
		initial_pose
	)

Set the initial pose to the localization system.

Definition at line 109 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, and tester.WaypointFollowerTest.initial_pose_received.

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◆ smoothPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.smoothPath	(	self,
		path,
		smoother_id = `''`,
		max_duration = `2.0`,
		check_for_collision = `False`
	)

Send a `SmoothPath` action request.

Definition at line 426 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._smoothPathImpl().

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◆ waitUntilNav2Active()

def nav2_simple_commander.robot_navigator.BasicNavigator.waitUntilNav2Active	(	self,
		navigator = `'bt_navigator'`,
		localizer = `'amcl'`
	)

Block until the full navigation system is up and running.

Definition at line 311 of file robot_navigator.py.

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

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ cancelTask()

◆ changeMap()

◆ clearAllCostmaps()

◆ clearGlobalCostmap()

◆ clearLocalCostmap()

◆ followPath()

◆ followWaypoints()

◆ getFeedback()

◆ getGlobalCostmap()

◆ getLocalCostmap()

◆ getPath()

◆ getPathThroughPoses()

◆ getResult()

◆ goThroughPoses()

◆ goToPose()

◆ isTaskComplete()

◆ lifecycleShutdown()

◆ lifecycleStartup()

◆ setInitialPose()

◆ smoothPath()

◆ waitUntilNav2Active()