nav2_behaviors::Wait Class Reference

An action server behavior for waiting a fixed duration. More...

#include <nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp>

Inheritance diagram for nav2_behaviors::Wait:

Collaboration diagram for nav2_behaviors::Wait:

Public Types
using	WaitActionGoal = WaitAction::Goal
Public Types inherited from nav2_behaviors::TimedBehavior< WaitAction >
using	ActionServer = nav2_util::SimpleActionServer< WaitAction >
Public Types inherited from nav2_core::Behavior
using	Ptr = std::shared_ptr< Behavior >

Public Member Functions
	Wait ()
	A constructor for nav2_behaviors::Wait.
ResultStatus	onRun (const std::shared_ptr< const WaitActionGoal > command) override
	Initialization to run behavior. More...
ResultStatus	onCycleUpdate () override
	Loop function to run behavior. More...
CostmapInfoType	getResourceInfo () override
	Method to determine the required costmap info. More...
Public Member Functions inherited from nav2_behaviors::TimedBehavior< WaitAction >
	TimedBehavior ()
	A TimedBehavior constructor.
virtual ResultStatus	onRun (const std::shared_ptr< const typename ActionT::Goal > command)=0
virtual void	onConfigure ()
virtual void	onCleanup ()
virtual void	onActionCompletion (std::shared_ptr< typename ActionT::Result >)
void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > local_collision_checker, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > global_collision_checker) override
void	cleanup () override
	Method to cleanup resources used on shutdown.
void	activate () override
	Method to active Behavior and any threads involved in execution.
void	deactivate () override
	Method to deactive Behavior and any threads involved in execution.
Public Member Functions inherited from nav2_core::Behavior
virtual	~Behavior ()
	Virtual destructor.

Protected Attributes
rclcpp::Time	wait_end_
WaitAction::Feedback::SharedPtr	feedback_
Protected Attributes inherited from nav2_behaviors::TimedBehavior< WaitAction >
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
std::string	behavior_name_
std::unique_ptr< nav2_util::TwistPublisher >	vel_pub_
std::shared_ptr< ActionServer >	action_server_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	local_collision_checker_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	global_collision_checker_
std::shared_ptr< tf2_ros::Buffer >	tf_
double	cycle_frequency_
double	enabled_
std::string	local_frame_
std::string	global_frame_
std::string	robot_base_frame_
double	transform_tolerance_
rclcpp::Duration	elasped_time_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_

Additional Inherited Members
Protected Member Functions inherited from nav2_behaviors::TimedBehavior< WaitAction >
void	execute ()
void	stopRobot ()

Detailed Description

An action server behavior for waiting a fixed duration.

Definition at line 33 of file wait.hpp.

Member Function Documentation

getResourceInfo()

CostmapInfoType nav2_behaviors::Wait::getResourceInfo ( )

inlineoverridevirtual

Method to determine the required costmap info.

Returns

costmap resources needed

Implements nav2_core::Behavior.

Definition at line 63 of file wait.hpp.

onCycleUpdate()

ResultStatus nav2_behaviors::Wait::onCycleUpdate ( )

overridevirtual

Loop function to run behavior.

Returns

Status of behavior

Implements nav2_behaviors::TimedBehavior< WaitAction >.

Definition at line 37 of file wait.cpp.

onRun()

ResultStatus nav2_behaviors::Wait::onRun ( const std::shared_ptr< const WaitActionGoal >  command )

override

Initialization to run behavior.

Parameters

command

Goal to execute

Returns

Status of behavior

Definition at line 31 of file wait.cpp.

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

• nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp
• nav2_behaviors/plugins/wait.cpp