An action server that uses behavior tree for navigating a robot to its goal position. More...

#include <nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp>

Inheritance diagram for nav2_bt_navigator::BtNavigator:

Collaboration diagram for nav2_bt_navigator::BtNavigator:

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Public Member Functions
	BtNavigator (rclcpp::NodeOptions options=rclcpp::NodeOptions())
	A constructor for nav2_bt_navigator::BtNavigator class. More...

	~BtNavigator ()
	A destructor for nav2_bt_navigator::BtNavigator class.

Public Member Functions inherited from nav2_util::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns="", const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has no integer or floating point range constraints. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const floating_point_range fp_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has a floating point range constraint. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const integer_range int_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has an integer range constraint. More...

std::shared_ptr< nav2_util::LifecycleNode >	shared_from_this ()
	Get a shared pointer of this.

nav2_util::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Member Functions
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configures member variables. More...

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activates action server. More...

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivates action server. More...

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Resets member variables. More...

nav2_util::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in shutdown state. More...

Protected Member Functions inherited from nav2_util::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
pluginlib::ClassLoader< nav2_core::NavigatorBase >	class_loader_

std::vector< pluginlib::UniquePtr< nav2_core::NavigatorBase > >	navigators_

nav2_core::NavigatorMuxer	plugin_muxer_

std::shared_ptr< nav2_util::OdomSmoother >	odom_smoother_

std::string	robot_frame_

std::string	global_frame_

double	transform_tolerance_

std::string	odom_topic_

std::shared_ptr< tf2_ros::Buffer >	tf_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

Protected Attributes inherited from nav2_util::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::unique_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

An action server that uses behavior tree for navigating a robot to its goal position.

Definition at line 40 of file bt_navigator.hpp.

Constructor & Destructor Documentation

◆ BtNavigator()

nav2_bt_navigator::BtNavigator::BtNavigator ( rclcpp::NodeOptions options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_bt_navigator::BtNavigator class.

Parameters

options Additional options to control creation of the node.

Definition at line 35 of file bt_navigator.cpp.

Member Function Documentation

◆ on_activate()

nav2_util::CallbackReturn nav2_bt_navigator::BtNavigator::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activates action server.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 145 of file bt_navigator.cpp.

References nav2_util::LifecycleNode::createBond(), and on_deactivate().

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◆ on_cleanup()

nav2_util::CallbackReturn nav2_bt_navigator::BtNavigator::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Resets member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 178 of file bt_navigator.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2_util::CallbackReturn nav2_bt_navigator::BtNavigator::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configures member variables.

Initializes action servers for navigator plugins; subscription to "goal_sub"; and builds behavior tree from xml file.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 59 of file bt_navigator.cpp.

References on_cleanup(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2_util::CallbackReturn nav2_bt_navigator::BtNavigator::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivates action server.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 162 of file bt_navigator.cpp.

References nav2_util::LifecycleNode::destroyBond().

Referenced by on_activate().

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◆ on_shutdown()

nav2_util::CallbackReturn nav2_bt_navigator::BtNavigator::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in shutdown state.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 198 of file bt_navigator.cpp.

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

nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
nav2_bt_navigator/src/bt_navigator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BtNavigator()

Member Function Documentation

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()