Collision Monitor ROS2 node. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp>

Inheritance diagram for nav2_collision_monitor::CollisionDetector:

Collaboration diagram for nav2_collision_monitor::CollisionDetector:

Public Member Functions
	CollisionDetector (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor for the nav2_collision_monitor::CollisionDetector. More...

	~CollisionDetector ()
	Destructor for the nav2_collision_monitor::CollisionDetector.

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
	: Initializes and obtains ROS-parameters, creates main subscribers and publishers, creates polygons and data sources objects More...

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	: Activates LifecyclePublishers, polygons and main processor, creates bond connection More...

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	: Deactivates LifecyclePublishers, polygons and main processor, destroys bond connection More...

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	: Resets all subscribers/publishers, polygons/data sources arrays More...

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

bool	getParameters ()
	Supporting routine obtaining all ROS-parameters. More...

bool	configurePolygons (const std::string &base_frame_id, const tf2::Duration &transform_tolerance)
	Supporting routine creating and configuring all polygons. More...

bool	configureSources (const std::string &base_frame_id, const std::string &odom_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Supporting routine creating and configuring all data sources. More...

void	process ()
	Main processing routine.

void	publishPolygons () const
	Polygons publishing routine. Made for visualization.

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

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
	TF buffer.

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_
	TF listener.

std::vector< std::shared_ptr< Polygon > >	polygons_
	Polygons array.

std::vector< std::shared_ptr< Source > >	sources_
	Data sources array.

rclcpp_lifecycle::LifecyclePublisher< nav2_msgs::msg::CollisionDetectorState >::SharedPtr	state_pub_
	collision monitor state publisher

rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray >::SharedPtr	collision_points_marker_pub_
	Collision points marker publisher.

rclcpp::TimerBase::SharedPtr	timer_
	timer that runs actions

double	frequency_
	main loop frequency

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

Collision Monitor ROS2 node.

Definition at line 49 of file collision_detector_node.hpp.

Constructor & Destructor Documentation

◆ CollisionDetector()

nav2_collision_monitor::CollisionDetector::CollisionDetector ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor for the nav2_collision_monitor::CollisionDetector.

Parameters

options Additional options to control creation of the node.

Definition at line 31 of file collision_detector_node.cpp.

Member Function Documentation

◆ configurePolygons()

bool nav2_collision_monitor::CollisionDetector::configurePolygons	(	const std::string &	base_frame_id,
		const tf2::Duration &	transform_tolerance
	)

protected

Supporting routine creating and configuring all polygons.

Parameters

base_frame_id	Robot base frame ID
transform_tolerance	Transform tolerance

Returns: True if all polygons were configured successfully or false in failure case

Definition at line 186 of file collision_detector_node.cpp.

References polygons_, nav2_util::LifecycleNode::shared_from_this(), and tf_buffer_.

Referenced by getParameters().

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◆ configureSources()

bool nav2_collision_monitor::CollisionDetector::configureSources	(	const std::string &	base_frame_id,
		const std::string &	odom_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

protected

Supporting routine creating and configuring all data sources.

Parameters

base_frame_id	Robot base frame ID
odom_frame_id	Odometry frame ID. Used as global frame to get source->base time interpolated transform.
transform_tolerance	Transform tolerance
source_timeout	Maximum time interval in which data is considered valid
base_shift_correction	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time