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Nav2 Navigation Stack - jazzy
jazzy
ROS 2 Navigation Stack
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| ►Nbackup_tester | |
| CBackupTest | |
| ►Nbehavior_server | |
| CBehaviorServer | An server hosting a map of behavior plugins |
| ►Ncostmap_queue | |
| CCellData | Storage for cell information used during queue expansion |
| CCostmapQueue | |
| CLimitedCostmapQueue | Extension of Costmap Queue where distances are limited to a given distance from source cells |
| CMapBasedQueue | Templatized interface for a priority queue |
| ►Ndrive_tester | |
| CDriveTest | |
| ►Ndwb_core | |
| CDWBLocalPlanner | Plugin-based flexible controller |
| CIllegalTrajectoryException | Thrown when one of the critics encountered a fatal error |
| CIllegalTrajectoryTracker | |
| CNoLegalTrajectoriesException | Thrown when all the trajectories explored are illegal |
| CDWBPublisher | Consolidation of all the publishing logic for the DWB Local Planner |
| CTrajectoryCritic | Evaluates a Trajectory2D to produce a score |
| CTrajectoryGenerator | Interface for iterating through possible velocities and creating trajectories |
| ►Ndwb_critics | |
| CBaseObstacleCritic | Uses costmap 2d to assign negative costs if a circular robot would collide at any point of the trajectory |
| CGoalAlignCritic | Scores trajectories based on whether the robot ends up pointing toward the eventual goal |
| CGoalDistCritic | Scores trajectories based on how far along the global path they end up |
| CLineIterator | |
| ►CMapGridCritic | Breadth-first scoring of all the cells in the costmap |
| CMapGridQueue | Subclass of CostmapQueue that avoids Obstacles and Unknown Values |
| CObstacleFootprintCritic | Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory |
| COscillationCritic | Checks to see whether the sign of the commanded velocity flips frequently |
| CPathAlignCritic | Scores trajectories based on how far from the global path the front of the robot ends up |
| CPathDistCritic | Scores trajectories based on how far from the global path they end up |
| CPreferForwardCritic | Penalize trajectories with move backwards and/or turn too much |
| CRotateToGoalCritic | Forces the commanded trajectories to only be rotations if within a certain distance window |
| CTwirlingCritic | Penalize trajectories with rotational velocities |
| ►Ndwb_plugins | |
| CKinematicParameters | A struct containing one representation of the robot's kinematics |
| CKinematicsHandler | A class managing the representation of the robot's kinematics |
| CLimitedAccelGenerator | Limits the acceleration in the generated trajectories to a fraction of the simulated time |
| COneDVelocityIterator | An iterator for generating a number of samples in a range |
| CStandardTrajectoryGenerator | Standard DWA-like trajectory generator |
| CVelocityIterator | |
| CXYThetaIterator | |
| ►Nlattice_generator | |
| ►CLatticeGenerator | |
| CFlip | |
| CMotionModel | |
| ►Nloopback_simulator | |
| CLoopbackSimulator | |
| ►Nmppi | |
| ►Ncritics | |
| CCollisionCost | Utility for storing cost information |
| CCriticFunction | Abstract critic objective function to score trajectories |
| CConstraintCritic | Critic objective function for enforcing feasible constraints |
| CCostCritic | Critic objective function for avoiding obstacles using costmap's inflated cost |
| CGoalAngleCritic | |
| CGoalCritic | |
| CObstaclesCritic | |
| CPathAlignCritic | |
| CPathAngleCritic | |
| CPathFollowCritic | |
| CPreferForwardCritic | |
| CTwirlingCritic | |
| CVelocityDeadbandCritic | Critic objective function for enforcing feasible constraints |
| ►Nmodels | |
| CControlConstraints | Constraints on control |
| CSamplingStd | Noise parameters for sampling trajectories |
| CControl | A set of controls |
| CControlSequence | A control sequence over time (e.g. trajectory) |
| COptimizerSettings | Settings for the optimizer to use |
| CPath | Path represented as a tensor |
| CState | State information: velocities, controls, poses, speed |
| CTrajectories | Candidate Trajectories |
| ►Nutils | |
| CPose2D | |
| CCriticData | Data to pass to critics for scoring, including state, trajectories, pruned path, global goal, costs, and important parameters to share |
| CCriticManager | Manager of objective function plugins for scoring trajectories |
| CMotionModel | Abstract motion model for modeling a vehicle |
| CAckermannMotionModel | Ackermann motion model |
| CDiffDriveMotionModel | Differential drive motion model |
| COmniMotionModel | Omnidirectional motion model |
| COptimizer | Main algorithm optimizer of the MPPI Controller |
| CNoiseGenerator | Generates noise trajectories from optimal trajectory |
| CParametersHandler | Handles getting parameters and dynamic parmaeter changes |
| CPathHandler | Manager of incoming reference paths for transformation and processing |
| CTrajectoryVisualizer | Visualizes trajectories for debugging |
| ►Nnav2_amcl | |
| ►CAmclNode | |
| Camcl_hyp_t | |
| CPoint2D | |
| Cangleutils | |
| CDifferentialMotionModel | |
| CMotionModel | An abstract motion model class |
| COmniMotionModel | |
| CLaser | |
| CLaserData | |
| CBeamModel | |
| CLikelihoodFieldModel | |
| CLikelihoodFieldModelProb | |
| ►Nnav2_behavior_tree | |
| CBehaviorTreeEngine | A class to create and handle behavior trees |
| CBtActionNode | Abstract class representing an action based BT node |
| CBtActionServer | An action server that uses behavior tree to execute an action |
| CBtCancelActionNode | Abstract class representing an action for cancelling BT node |
| CBtServiceNode | Abstract class representing a service based BT node |
| CAssistedTeleopAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::AssistedTeleop |
| CAssistedTeleopCancel | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp |
| CBackUpAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp |
| CBackUpCancel | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp |
| CClearEntireCostmapService | A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::ClearEntireCostmap |
| CClearCostmapExceptRegionService | A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::ClearCostmapExceptRegion |
| CClearCostmapAroundRobotService | A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::ClearCostmapAroundRobot |
| CClearCostmapAroundPoseService | A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::ClearCostmapAroundPose |
| CComputePathThroughPosesAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::ComputePathThroughPoses |
| CComputePathToPoseAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::ComputePathToPose |
| CControllerCancel | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::FollowPath |
| CControllerSelector | The ControllerSelector behavior is used to switch the controller that will be used by the controller server. It subscribes to a topic "controller_selector" to get the decision about what controller must be used. It is usually used before of the FollowPath. The selected_controller output port is passed to controller_id input port of the FollowPath |
| CDriveOnHeadingAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::DriveOnHeading |
| CDriveOnHeadingCancel | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::DriveOnHeading |
| CFollowPathAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::FollowPath |
| CGetPoseFromPath | |
| CGoalCheckerSelector | The GoalCheckerSelector behavior is used to switch the goal checker of the controller server. It subscribes to a topic "goal_checker_selector" to get the decision about what goal_checker must be used. It is usually used before of the FollowPath. The selected_goal_checker output port is passed to goal_checker_id input port of the FollowPath |
| CNavigateThroughPosesAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::NavigateThroughPoses |
| CNavigateToPoseAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::NavigateToPose |
| CPlannerSelector | The PlannerSelector behavior is used to switch the planner that will be used by the planner server. It subscribes to a topic "planner_selector" to get the decision about what planner must be used. It is usually used before of the ComputePathToPoseAction. The selected_planner output port is passed to planner_id input port of the ComputePathToPoseAction |
| CProgressCheckerSelector | The ProgressCheckerSelector behavior is used to switch the progress checker of the controller server. It subscribes to a topic "progress_checker_selector" to get the decision about what progress_checker must be used. It is usually used before of the FollowPath. The selected_progress_checker output port is passed to progress_checker_id input port of the FollowPath |
| CReinitializeGlobalLocalizationService | A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::Empty |
| CRemovePassedGoals | |
| CSmoothPathAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::SmoothPath |
| CSmootherSelector | The SmootherSelector behavior is used to switch the smoother that will be used by the smoother server. It subscribes to a topic "smoother_selector" to get the decision about what smoother must be used. It is usually used before of the FollowPath. The selected_smoother output port is passed to smoother_id input port of the FollowPath |
| CSpinAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Spin |
| CSpinCancel | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Wait |
| CTruncatePath | A BT::ActionNodeBase to shorten path by some distance |
| CTruncatePathLocal | A BT::ActionNodeBase to shorten path to some distance around robot |
| CWaitAction | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Wait |
| CWaitCancel | A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Wait |
| CAreErrorCodesPresent | |
| CDistanceTraveledCondition | A BT::ConditionNode that returns SUCCESS every time the robot travels a specified distance and FAILURE otherwise |
| CGloballyUpdatedGoalCondition | A BT::ConditionNode that returns SUCCESS when goal is updated on the blackboard and FAILURE otherwise |
| CGoalReachedCondition | A BT::ConditionNode that returns SUCCESS when a specified goal is reached and FAILURE otherwise |
| CGoalUpdatedCondition | A BT::ConditionNode that returns SUCCESS when goal is updated on the blackboard and FAILURE otherwise |
| CInitialPoseReceived | A BT::ConditionNode that returns SUCCESS if initial pose has been received and FAILURE otherwise |
| CIsBatteryChargingCondition | A BT::ConditionNode that listens to a battery topic and returns SUCCESS when battery is charging and FAILURE otherwise |
| CIsBatteryLowCondition | A BT::ConditionNode that listens to a battery topic and returns SUCCESS when battery is low and FAILURE otherwise |
| CIsPathValidCondition | A BT::ConditionNode that returns SUCCESS when the IsPathValid service returns true and FAILURE otherwise |
| CIsStuckCondition | A BT::ConditionNode that tracks robot odometry and returns SUCCESS if robot is stuck somewhere and FAILURE otherwise |
| CPathExpiringTimerCondition | A BT::ConditionNode that returns SUCCESS every time a specified time period passes and FAILURE otherwise |
| CTimeExpiredCondition | A BT::ConditionNode that returns SUCCESS every time a specified time period passes and FAILURE otherwise |
| CTransformAvailableCondition | A BT::ConditionNode that returns SUCCESS if there is a valid transform between two specified frames and FAILURE otherwise |
| CWouldAControllerRecoveryHelp | |
| CWouldAPlannerRecoveryHelp | |
| CWouldASmootherRecoveryHelp | |
| CPipelineSequence | Type of sequence node that re-ticks previous children when a child returns running |
| CRecoveryNode | The RecoveryNode has only two children and returns SUCCESS if and only if the first child returns SUCCESS |
| CRoundRobinNode | Type of sequence node that ticks children in a round-robin fashion |
| CDistanceController | A BT::DecoratorNode that ticks its child every time the robot travels a specified distance |
| CGoalUpdatedController | A BT::DecoratorNode that ticks its child if the goal was updated |
| CGoalUpdater | A BT::DecoratorNode that subscribes to a goal topic and updates the current goal on the blackboard |
| CPathLongerOnApproach | A BT::DecoratorNode that ticks its child everytime when the length of the new path is smaller than the old one by the length given by the user |
| CRateController | A BT::DecoratorNode that ticks its child at a specified rate |
| CSingleTrigger | A BT::DecoratorNode that triggers its child only once and returns FAILURE for every succeeding tick |
| CSpeedController | A BT::DecoratorNode that ticks its child every at a rate proportional to the speed of the robot. If the robot travels faster, this node will tick its child at a higher frequency and reduce the tick frequency if the robot slows down |
| CRosTopicLogger | A class to publish BT logs on BT status change |
| ►Nnav2_behaviors | |
| CAssistedTeleop | An action server behavior for assisted teleop |
| CBackUp | |
| CDriveOnHeading | An action server Behavior for spinning in |
| CSpin | An action server behavior for spinning in |
| CWait | An action server behavior for waiting a fixed duration |
| CResultStatus | |
| CTimedBehavior | |
| ►Nnav2_bt_navigator | |
| CBtNavigator | An action server that uses behavior tree for navigating a robot to its goal position |
| CNavigateThroughPosesNavigator | A navigator for navigating to a a bunch of intermediary poses |
| CNavigateToPoseNavigator | A navigator for navigating to a specified pose |
| ►Nnav2_collision_monitor | |
| CCircle | Circle shape implementaiton. For STOP/SLOWDOWN/LIMIT model it represents zone around the robot while for APPROACH model it represents robot footprint |
| CCollisionDetector | Collision Monitor ROS2 node |
| CCollisionMonitor | Collision Monitor ROS2 node |
| CPointCloud | Implementation for pointcloud source |
| CPolygon | Basic polygon shape class. For STOP/SLOWDOWN/LIMIT model it represents zone around the robot while for APPROACH model it represents robot footprint |
| CPolygonSource | Implementation for polygon source |
| CRange | Implementation for IR/ultrasound range sensor source |
| CScan | Implementation for laser scanner source |
| CSource | Basic data source class |
| CVelocity | Velocity for 2D model of motion |
| CPoint | 2D point |
| CPose | 2D Pose |
| CAction | Action for robot |
| ►CVelocityPolygon | Velocity polygon class. This class contains all the points of the polygon and the expected condition of the velocity based polygon |
| CSubPolygonParameter | Custom struc to store the parameters of the sub-polygon |
| ►Nnav2_common | |
| ►Nlaunch | |
| ►Nhas_node_params | |
| CHasNodeParams | |
| ►Nparse_multirobot_pose | |
| CParseMultiRobotPose | |
| ►Nreplace_string | |
| CReplaceString | |
| ►Nrewritten_yaml | |
| CDictItemReference | |
| CRewrittenYaml | |
| ►Nnav2_constrained_smoother | |
| CConstrainedSmoother | Regulated pure pursuit controller plugin |
| CSmootherParams | |
| COptimizerParams | |
| CSmoother | |
| CSmootherCostFunction | Cost function for path smoothing with multiple terms including curvature, smoothness, distance from original and obstacle avoidance |
| ►Nnav2_controller | |
| CControllerServer | This class hosts variety of plugins of different algorithms to complete control tasks from the exposed FollowPath action server |
| CPoseProgressChecker | This plugin is used to check the position and the angle of the robot to make sure that it is actually progressing or rotating towards a goal |
| CPositionGoalChecker | Goal Checker plugin that only checks XY position, ignoring orientation |
| CSimpleGoalChecker | Goal Checker plugin that only checks the position difference |
| CSimpleProgressChecker | This plugin is used to check the position of the robot to make sure that it is actually progressing towards a goal |
| CStoppedGoalChecker | Goal Checker plugin that checks the position difference and velocity |
| ►Nnav2_core | |
| CBehavior | Abstract interface for behaviors to adhere to with pluginlib |
| CFeedbackUtils | Navigator feedback utilities required to get transforms and reference frames |
| CNavigatorMuxer | A class to control the state of the BT navigator by allowing only a single plugin to be processed at a time |
| CNavigatorBase | Navigator interface to allow navigators to be stored in a vector and accessed via pluginlib due to templates. These functions will be implemented by BehaviorTreeNavigator, not the user. The user should implement the virtual methods from BehaviorTreeNavigator to implement their navigator action |
| CBehaviorTreeNavigator | Navigator interface that acts as a base class for all BT-based Navigator action's plugins All methods from NavigatorBase are marked as final so they may not be overrided by derived methods - instead, users should use the appropriate APIs provided after BT Action handling |
| CController | Controller interface that acts as a virtual base class for all controller plugins |
| CControllerException | |
| CInvalidController | |
| CControllerTFError | |
| CFailedToMakeProgress | |
| CPatienceExceeded | |
| CInvalidPath | |
| CNoValidControl | |
| CControllerTimedOut | |
| CGlobalPlanner | Abstract interface for global planners to adhere to with pluginlib |
| CGoalChecker | Function-object for checking whether a goal has been reached |
| CPlannerException | |
| CInvalidPlanner | |
| CStartOccupied | |
| CGoalOccupied | |
| CStartOutsideMapBounds | |
| CGoalOutsideMapBounds | |
| CNoValidPathCouldBeFound | |
| CPlannerTimedOut | |
| CPlannerTFError | |
| CNoViapointsGiven | |
| CPlannerCancelled | |
| CProgressChecker | This class defines the plugin interface used to check the position of the robot to make sure that it is actually progressing towards a goal |
| CSmoother | Smoother interface that acts as a virtual base class for all smoother plugins |
| CSmootherException | |
| CInvalidSmoother | |
| CSmootherTimedOut | |
| CSmoothedPathInCollision | |
| CFailedToSmoothPath | |
| CWaypointTaskExecutor | Base class for creating a plugin in order to perform a specific task at waypoint arrivals |
| ►Nnav2_costmap_2d | |
| ►Nimgproc_impl | |
| ►Nout_of_bounds_policy | |
| CDoNothing | Boundary case object stub. Used as parameter of class Window. Dereferences a pointer to a pixel without any checks |
| CReplaceToZero | Boundary case object. Used as parameter of class Window. Dereferences a pointer to a existing pixel. If the pixel is out of bounds, it returns a ref to 0 |
| CEquivalenceLabelTrees | Union-find data structure Implementation of union-find data structure, described in reference article. Store rooted trees, where each node of a tree is a provisional label and each edge represents an equivalence between two labels |
| CWindow | Forward scan mask sliding window Provides an interface for access to neighborhood of the current pixel (includes three neighbors of the top row, the pixel to the left and the current one). In the illustration below, the current pixel is e. |a|b|c| |d|e| | | | | | |
| CEquivalenceLabelTreesBase | |
| CLabelOverflow | |
| CProcessPixel | The specializations of this class provide the definition of the pixel label |
| CProcessPixel< ConnectivityType::Way8 > | Define the label of a pixel in an 8-linked image |
| CProcessPixel< ConnectivityType::Way4 > | Define the label of a pixel in an 4-linked image |
| CGroupsRemover | Object to eliminate grouped noise on the image Stores a label tree that is reused |
| CClearCostmapService | Exposes services to clear costmap objects in inclusive/exclusive regions or completely |
| CMapLocation | |
| ►CCostmap2D | A 2D costmap provides a mapping between points in the world and their associated "costs" |
| CMarkCell | |
| CPolygonOutlineCells | |
| CCostmap2DPublisher | A tool to periodically publish visualization data from a Costmap2D |
| CCostmap2DROS | A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages |
| CBinaryFilter | Reads in a speed restriction mask and enables a robot to dynamically adjust speed based on pose in map to slow in dangerous areas. Done via absolute speed setting or percentage of maximum speed |
| CCostmapFilter | : CostmapFilter basic class. It is inherited from Layer in order to avoid hidden problems when the shared handling of costmap_ resource (PR #1936) |
| CKeepoutFilter | Reads in a keepout mask and marks keepout regions in the map to prevent planning or control in restricted areas |
| CSpeedFilter | Reads in a speed restriction mask and enables a robot to dynamically adjust speed based on pose in map to slow in dangerous areas. Done via absolute speed setting or percentage of maximum speed |
| CCostmapLayer | A costmap layer base class for costmap plugin layers. Rather than just a layer, this object also contains an internal costmap object to populate and maintain state |
| CCostmapSubscriber | Subscribes to the costmap via a ros topic |
| CCostmapTopicCollisionChecker | Using a costmap via a ros topic, this object is used to find if robot poses are in collision with the costmap environment |
| CImage | Image with pixels of type T Сan own data, be a wrapper over some memory buffer, or refer to a fragment of another image Pixels of one row are stored continuity. But rows continuity is not guaranteed. The distance (number of elements of type T) from row(i) to row(i + 1) is equal to step() |
| CMemoryBuffer | A memory buffer that can grow to an upper-bounded capacity |
| CDenoiseLayer | Layer filters noise-induced standalone obstacles (white costmap pixels) or small obstacles groups |
| CCollisionCheckerException | Exceptions thrown if collision checker determines a pose is in collision with the environment costmap |
| CIllegalPoseException | Thrown when CollisionChecker encounters a fatal error |
| CFootprintCollisionChecker | Checker for collision with a footprint on a costmap |
| CFootprintSubscriber | Subscriber to the footprint topic to get current robot footprint (if changing) for use in collision avoidance |
| CCellData | Storage for cell information used during obstacle inflation |
| CInflationLayer | Layer to convolve costmap by robot's radius or footprint to prevent collisions and largely simply collision checking |
| CLayer | Abstract class for layered costmap plugin implementations |
| CLayeredCostmap | Instantiates different layer plugins and aggregates them into one score |
| CObservation | Stores an observation in terms of a point cloud and the origin of the source |
| CObservationBuffer | Takes in point clouds from sensors, transforms them to the desired frame, and stores them |
| CObstacleLayer | Takes in laser and pointcloud data to populate into 2D costmap |
| CPluginContainerLayer | Holds a list of plugins and applies them only to the specific layer |
| CRangeSensorLayer | Takes in IR/Sonar/similar point measurement sensors and populates in costmap |
| CStaticLayer | Takes in a map generated from SLAM to add costs to costmap |
| CVoxelLayer | Takes laser and pointcloud data to populate a 3D voxel representation of the environment |
| ►Nnav2_graceful_controller | |
| CEgocentricPolarCoordinates | Egocentric polar coordinates defined as the difference between the robot pose and the target pose relative to the robot position and orientation |
| CGracefulController | Graceful controller plugin |
| CParameters | |
| CParameterHandler | Handles parameters and dynamic parameters for GracefulMotionController |
| CPathHandler | Handles input paths to transform them to local frames required |
| CSmoothControlLaw | Smooth control law for graceful motion based on "A smooth control law for graceful motion" (Jong Jin Park and Benjamin Kuipers) |
| ►Nnav2_lifecycle_manager | |
| CLifecycleManager | Implements service interface to transition the lifecycle nodes of Nav2 stack. It receives transition request and then uses lifecycle interface to change lifecycle node's state |
| CLifecycleManagerClient | |
| ►Nnav2_map_server | |
| CCostmapFilterInfoServer | |
| CLoadParameters | |
| CSaveParameters | |
| CMapSaver | A class that provides map saving methods and services |
| CMapServer | Parses the map yaml file and creates a service and a publisher that provides occupancy grid |
| ►Nnav2_mppi_controller | |
| CMPPIController | |
| ►Nnav2_navfn_planner | |
| CNavFn | Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down |
| CNavfnPlanner | |
| ►Nnav2_planner | |
| CPlannerServer | An action server implements the behavior tree's ComputePathToPose interface and hosts various plugins of different algorithms to compute plans |
| ►Nnav2_regulated_pure_pursuit_controller | |
| CCollisionChecker | Checks for collision based on a RPP control command |
| CParameters | |
| CParameterHandler | Handles parameters and dynamic parameters for RPP |
| CPathHandler | Handles input paths to transform them to local frames required |
| CRegulatedPurePursuitController | Regulated pure pursuit controller plugin |
| ►Nnav2_rotation_shim_controller | |
| CRotationShimController | Rotate to rough path heading controller shim plugin |
| ►Nnav2_rviz_plugins | |
| CCostmapCostTool | |
| CDockingPanel | Panel to interface to the docking server |
| CInitialDockThread | |
| CGoalPoseUpdater | Class to set and update goal pose by emitting signal |
| CGoalTool | |
| CNav2Panel | Panel to interface to the nav2 stack |
| CInitialThread | |
| CFlatWeightedArrowsArray | |
| COgrePoseWithWeight | |
| CParticleCloudDisplay | Displays a nav2_msgs/ParticleCloud message as a bunch of line-drawn weighted arrows |
| CROSActionQEvent | Custom Event to track state of ROS Action |
| CROSActionQTransition | Custom Transition to check whether ROS Action state has changed |
| CSelector | |
| ►Nnav2_simple_commander | |
| ►Ncostmap_2d | |
| CPyCostmap2D | |
| ►Nfootprint_collision_checker | |
| CFootprintCollisionChecker | |
| ►Nline_iterator | |
| CLineIterator | |
| ►Nrobot_navigator | |
| CTaskResult | |
| CBasicNavigator | |
| ►Nnav2_smac_planner | |
| ►CAStarAlgorithm | An A* implementation for planning in a costmap. Templated based on the Node type |
| CNodeComparator | |
| ►CAnalyticExpansion | |
| CAnalyticExpansionNode | |
| CGridCollisionChecker | A costmap grid collision checker |
| CCostmapDownsampler | A costmap downsampler for more efficient path planning |
| ►CNode2D | Node2D implementation for graph |
| CCoordinates | Node2D implementation of coordinate structure |
| CNodeBasic | NodeBasic implementation for priority queue insertion |
| CObstacleHeuristicComparator | |
| CHybridMotionTable | A table of motion primitives and related functions |
| ►CNodeHybrid | NodeHybrid implementation for graph, Hybrid-A* |
| CCoordinates | NodeHybrid implementation of coordinate structure |
| CLatticeMotionTable | A table of motion primitives and related functions |
| CNodeLattice | NodeLattice implementation for graph, Hybrid-A* |
| CSmacPlanner2D | |
| CSmacPlannerHybrid | |
| CSmacPlannerLattice | |
| CPathSegment | A segment of a path in start/end indices |
| CBoundaryPoints | Set of boundary condition points from expansion |
| CBoundaryExpansion | Boundary expansion state |
| CSmoother | A Conjugate Gradient 2D path smoother implementation |
| CSearchInfo | Search properties and penalties |
| CSmootherParams | Parameters for the smoother cost function |
| CMotionPose | A struct for poses in motion primitives |
| CLatticeMetadata | A struct of all lattice metadata |
| CMotionPrimitive | A struct of all motion primitive data |
| ►Nnav2_smoother | |
| CSmootherServer | This class hosts variety of plugins of different algorithms to smooth or refine a path from the exposed SmoothPath action server |
| CSavitzkyGolaySmoother | A path smoother implementation using Savitzky Golay filters |
| CSimpleSmoother | A path smoother implementation |
| ►Nnav2_system_tests | |
| CDummyActionServer | |
| CDummyService | |
| CDummyComputePathToPoseActionServer | |
| CDummyFollowPathActionServer | |
| CServerHandler | |
| CAssistedTeleopBehaviorTester | |
| CWaitBehaviorTester | |
| CDummyController | |
| CDummyPlanner | |
| CUnknownErrorController | |
| CTFErrorController | |
| CFailedToMakeProgressErrorController | |
| CPatienceExceededErrorController | |
| CInvalidPathErrorController | |
| CNoValidControlErrorController | |
| CUnknownErrorPlanner | |
| CStartOccupiedErrorPlanner | |
| CGoalOccupiedErrorPlanner | |
| CStartOutsideMapErrorPlanner | |
| CGoalOutsideMapErrorPlanner | |
| CNoValidPathErrorPlanner | |
| CTimedOutErrorPlanner | |
| CTFErrorPlanner | |
| CNoViapointsGivenErrorPlanner | |
| CCancelledPlanner | |
| CUnknownErrorSmoother | |
| CTimeOutErrorSmoother | |
| CSmoothedPathInCollision | |
| CFailedToSmoothPath | |
| CInvalidPath | |
| CNavFnPlannerTester | |
| CPlannerTester | |
| ►Nnav2_theta_star_planner | |
| CThetaStarPlanner | |
| ►Nnav2_util | |
| CClearEntirelyCostmapServiceClient | A service client to clear costmaps entirely |
| CCostmap | Class for a single layered costmap initialized from an occupancy grid representing the map |
| CExecutionTimer | Measures execution time of code between calls to start and end |
| ►CLifecycleNode | A lifecycle node wrapper to enable common Nav2 needs such as manipulating parameters |
| Cfloating_point_range | |
| Cinteger_range | |
| CLifecycleServiceClient | Helper functions to interact with a lifecycle node |
| CLineIterator | An iterator implementing Bresenham Ray-Tracing |
| CNodeThread | A background thread to process node/executor callbacks |
| COdomSmoother | |
| CServiceClient | A simple wrapper on ROS2 services for invoke() and block-style calling |
| CSimpleActionServer | An action server wrapper to make applications simpler using Actions |
| CTwistPublisher | A simple wrapper on a Twist publisher that provides either Twist or TwistStamped |
| CTwistSubscriber | A simple wrapper on a Twist subscriber that receives either geometry_msgs::msg::TwistStamped or geometry_msgs::msg::Twist |
| CBaseFootprintPublisherListener | A TF2 listener that overrides the subscription callback to inject base footprint publisher removing Z, Pitch, and Roll for 3D state estimation but desiring a 2D frame for navigation, visualization, or other reasons |
| CBaseFootprintPublisher | Republishes the base_link frame as base_footprint stripping away the Z, Roll, and Pitch of the full 3D state to provide a 2D projection for navigation when state estimation is full 3D |
| ►Nnav2_velocity_smoother | |
| CVelocitySmoother | This class that smooths cmd_vel velocities for robot bases |
| ►Nnav2_voxel_grid | |
| CVoxelGrid | |
| ►Nnav2_waypoint_follower | |
| CInputAtWaypoint | Simple plugin based on WaypointTaskExecutor, lets robot to wait for a user input at waypoint arrival |
| CPhotoAtWaypoint | |
| CWaitAtWaypoint | Simple plugin based on WaypointTaskExecutor, lets robot to sleep for a specified amount of time at waypoint arrival. You can reference this class to define your own task and rewrite the body for it |
| CGoalStatus | |
| CWaypointFollower | An action server that uses behavior tree for navigating a robot to its goal position |
| ►Nnav_2d_utils | |
| COdomSubscriber | |
| ►Nnav_through_poses_tester_node | |
| CNavTester | |
| ►Nnav_to_pose_tester_node | |
| CNavTester | |
| ►Nopennav_docking | |
| CController | Default control law for approaching a dock target |
| CDockDatabase | An object to contain docks and docking plugins |
| CDockingServer | An action server which implements charger docking node for AMRs |
| CNavigator | An object the call navigation to obtain initial staging pose |
| CPoseFilter | Filter for a sequence of pose measurements |
| CSimpleChargingDock | |
| CSimpleNonChargingDock | |
| ►Nopennav_docking_bt | |
| CDockRobotAction | Nav2_behavior_tree::BtActionNode class that wraps opnav2_msgsennav_docking_msgs/DockRobot |
| CUndockRobotAction | Nav2_behavior_tree::BtActionNode class that wraps nav2_msgs/UndockRobot |
| ►Nopennav_docking_core | |
| CChargingDock | Abstract interface for a charging dock for the docking framework |
| CDockingException | Abstract docking exception |
| CDockNotInDB | Dock was not found in the provided dock database |
| CDockNotValid | Dock plugin provided in the database or action was invalid |
| CFailedToStage | Failed to navigate to the staging pose |
| CFailedToDetectDock | Failed to detect the charging dock |
| CFailedToControl | Failed to control into or out of the dock |
| CFailedToCharge | Failed to start charging |
| CNonChargingDock | Abstract interface for a non-charging dock for the docking framework |
| ►Nrobin_hood | |
| ►Ndetail | |
| ►Nswappable | |
| Cnothrow | |
| CBulkPoolAllocator | |
| CNodeAllocator | |
| CNodeAllocator< T, MinSize, MaxSize, true > | |
| CNodeAllocator< T, MinSize, MaxSize, false > | |
| Cvoid_type | |
| Chas_is_transparent | |
| Chas_is_transparent< T, typename void_type< typename T::is_transparent >::type > | |
| CWrapHash | |
| CWrapKeyEqual | |
| CTable | |
| ►NROBIN_HOOD_STD | |
| ►Ndetail_ | |
| ►CIntSeqImpl | |
| CIntSeqCombiner | |
| CIntSeqCombiner< integer_sequence< TValue, Inds0... >, integer_sequence< TValue, Inds1... > > | |
| CIntSeqImpl< T, Begin, Begin, false > | |
| CIntSeqImpl< T, Begin, End, true > | |
| Calignment_of | |
| Cinteger_sequence | |
| Cis_transparent_tag | |
| Cpair | |
| Chash | |
| Chash< std::basic_string< CharT > > | |
| Chash< T * > | |
| Chash< std::unique_ptr< T > > | |
| Chash< std::shared_ptr< T > > | |
| Chash< Enum, typename std::enable_if< std::is_enum< Enum >::value >::type > | |
| ►Nsmoother_utils | |
| CPathSegment | |
| ►Nspin_tester | |
| CSpinTest | |
| ►Ntester | |
| CGpsWaypointFollowerTest | |
| CWaypointFollowerTest | |
| ►Ntester_node | |
| CTestType | |
| CFilterMask | |
| CNavTester | |
| ►Ntheta_star | |
| CThetaStar | |
| ►Ntrajectory | |
| CTrajectoryParameters | |
| CPath | |
| CTrajectory | |
| ►Ntrajectory_generator | |
| CTrajectoryGenerator | |
| C_pf_sample_set_t | |
| C_pf_t | |
| CA | |
| CAnalyticExpansionNodes | Analytic expansion nodes and associated metadata |
| CBehavior | An action server Behavior base class implementing the action server and basic factory |
| CCachedDistanceMap | |
| CCell | |
| CCellData | |
| Ccmd_struct | |
| Ccomp | |
| CcoordsM | |
| CcoordsW | |
| CCostmaQueue | A tool for finding the cells closest to some set of originating cells |
| CDock | |
| CLifeCycleMangerClient | The LifecycleManagerClient sends requests to the LifecycleManager to control the lifecycle state of the navigation modules |
| Cmap_cell_t | |
| Cmap_t | |
| CMPPIController | Main plugin controller for MPPI Controller |
| CNodeComparator | Node comparison for priority queue sorting |
| COptimizerParams | Parameters for the ceres optimizer |
| CParameter | |
| CPathSegment | A segment of a path in start/end indices |
| Cpf_cluster_t | |
| Cpf_kdtree_node | |
| Cpf_kdtree_t | |
| Cpf_matrix_t | |
| Cpf_pdf_gaussian_t | |
| Cpf_sample_t | |
| Cpf_vector_t | |
| CRosLockGuard | |
| Ctree_node | |
| CTurnDirection | A struct with the motion primitive's direction embedded |
| CVoxelGrid | A 3D grid structure that stores points as an integer array. X and Y index the array and Z selects which bit of the integer is used giving a limit of 16 vertical cells |
1.9.1