A navigator for navigating to a a bunch of intermediary poses. More...

#include <nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_through_poses.hpp>

Inheritance diagram for nav2_bt_navigator::NavigateThroughPosesNavigator:

Collaboration diagram for nav2_bt_navigator::NavigateThroughPosesNavigator:

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Public Types
using	ActionT = nav2_msgs::action::NavigateThroughPoses

typedef std::vector< geometry_msgs::msg::PoseStamped >	Goals

Public Types inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >
using	Ptr = std::shared_ptr< nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses > >

Public Member Functions
	NavigateThroughPosesNavigator ()
	A constructor for NavigateThroughPosesNavigator.

bool	configure (rclcpp_lifecycle::LifecycleNode::WeakPtr node, std::shared_ptr< nav2_util::OdomSmoother > odom_smoother) override
	A configure state transition to configure navigator's state. More...

std::string	getName () override
	Get action name for this navigator. More...

std::string	getDefaultBTFilepath (rclcpp_lifecycle::LifecycleNode::WeakPtr node) override
	Get navigator's default BT. More...

Public Member Functions inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >
	BehaviorTreeNavigator ()
	A Navigator constructor.

virtual	~BehaviorTreeNavigator ()=default
	Virtual destructor.

bool	on_configure (rclcpp_lifecycle::LifecycleNode::WeakPtr parent_node, const std::vector< std::string > &plugin_lib_names, const FeedbackUtils &feedback_utils, nav2_core::NavigatorMuxer *plugin_muxer, std::shared_ptr< nav2_util::OdomSmoother > odom_smoother) final
	Configuration to setup the navigator's backend BT and actions. More...

bool	on_activate () final
	Activation of the navigator's backend BT and actions. More...

bool	on_deactivate () final
	Deactivation of the navigator's backend BT and actions. More...

bool	on_cleanup () final
	Cleanup a navigator. More...

Protected Member Functions
bool	goalReceived (ActionT::Goal::ConstSharedPtr goal) override
	A callback to be called when a new goal is received by the BT action server Can be used to check if goal is valid and put values on the blackboard which depend on the received goal. More...

void	onLoop () override
	A callback that defines execution that happens on one iteration through the BT Can be used to publish action feedback.

void	onPreempt (ActionT::Goal::ConstSharedPtr goal) override
	A callback that is called when a preempt is requested.

void	goalCompleted (typename ActionT::Result::SharedPtr result, const nav2_behavior_tree::BtStatus final_bt_status) override
	A callback that is called when a the action is completed, can fill in action result message or indicate that this action is done. More...

bool	initializeGoalPoses (ActionT::Goal::ConstSharedPtr goal)
	Goal pose initialization on the blackboard. More...

Protected Member Functions inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >
bool	onGoalReceived (typename ActionT::Goal::ConstSharedPtr goal)
	An intermediate goal reception function to mux navigators.

void	onCompletion (typename ActionT::Result::SharedPtr result, const nav2_behavior_tree::BtStatus final_bt_status)
	An intermediate completion function to mux navigators.

virtual bool	cleanup ()
	Method to cleanup resources.

virtual bool	activate ()
	Method to activate any threads involved in execution.

virtual bool	deactivate ()
	Method to deactivate and any threads involved in execution.

Protected Attributes
rclcpp::Time	start_time_

std::string	goals_blackboard_id_

std::string	path_blackboard_id_

std::shared_ptr< nav2_util::OdomSmoother >	odom_smoother_

Protected Attributes inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >
std::unique_ptr< nav2_behavior_tree::BtActionServer< nav2_msgs::action::NavigateThroughPoses > >	bt_action_server_

rclcpp::Logger	logger_

rclcpp::Clock::SharedPtr	clock_

FeedbackUtils	feedback_utils_

NavigatorMuxer *	plugin_muxer_

Detailed Description

A navigator for navigating to a a bunch of intermediary poses.

Definition at line 38 of file navigate_through_poses.hpp.

Member Function Documentation

◆ configure()

bool nav2_bt_navigator::NavigateThroughPosesNavigator::configure	(	rclcpp_lifecycle::LifecycleNode::WeakPtr	node,
		std::shared_ptr< nav2_util::OdomSmoother >	odom_smoother
	)

overridevirtual

A configure state transition to configure navigator's state.

Parameters

node	Weakptr to the lifecycle node
odom_smoother	Object to get current smoothed robot's speed

Reimplemented from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >.

Definition at line 26 of file navigate_through_poses.cpp.

◆ getDefaultBTFilepath()

std::string nav2_bt_navigator::NavigateThroughPosesNavigator::getDefaultBTFilepath ( rclcpp_lifecycle::LifecycleNode::WeakPtr node )

overridevirtual

Get navigator's default BT.

Parameters

node	WeakPtr to the lifecycle node

Returns: string Filepath to default XML

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >.

Definition at line 52 of file navigate_through_poses.cpp.

◆ getName()

std::string nav2_bt_navigator::NavigateThroughPosesNavigator::getName ( )

inlineoverridevirtual

Get action name for this navigator.

Returns: string Name of action server

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >.

Definition at line 64 of file navigate_through_poses.hpp.

◆ goalCompleted()

void nav2_bt_navigator::NavigateThroughPosesNavigator::goalCompleted	(	typename ActionT::Result::SharedPtr	result,
		const nav2_behavior_tree::BtStatus	final_bt_status
	)

overrideprotectedvirtual

A callback that is called when a the action is completed, can fill in action result message or indicate that this action is done.

Parameters

result	Action template result message to populate
final_bt_status	Resulting status of the behavior tree execution that may be referenced while populating the result.

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateThroughPoses >.

Definition at line 88 of file navigate_through_poses.cpp.

◆ goalReceived()

bool nav2_bt_navigator::NavigateThroughPosesNavigator::goalReceived ( ActionT::Goal::ConstSharedPtr goal )

overrideprotectedvirtual

A callback to be called when a new goal is received by the BT action server Can be used to check if goal is valid and put values on the blackboard which depend on the received goal.

Parameters