Implementation for IR/ultrasound range sensor source. More...

Inheritance diagram for nav2_collision_monitor::Range:

Collaboration diagram for nav2_collision_monitor::Range:

Public Member Functions
	Range (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Range constructor. More...

	~Range ()
	Range destructor.

void	configure ()
	Data source configuration routine. Obtains ROS-parameters and creates range sensor subscriber.

bool	getData (const rclcpp::Time &curr_time, std::vector< Point > &data)
	Adds latest data from range sensor to the data array. More...

Public Member Functions inherited from nav2_collision_monitor::Source
	Source (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Source constructor. More...

virtual	~Source ()
	Source destructor.

bool	getEnabled () const
	Obtains source enabled state. More...

std::string	getSourceName () const
	Obtains the name of the data source. More...

rclcpp::Duration	getSourceTimeout () const
	Obtains the source_timeout parameter of the data source. More...

Protected Member Functions
void	getParameters (std::string &source_topic)
	Getting sensor-specific ROS-parameters. More...

void	dataCallback (sensor_msgs::msg::Range::ConstSharedPtr msg)
	Range sensor data callback. More...

Protected Member Functions inherited from nav2_collision_monitor::Source
bool	configure ()
	Source configuration routine. More...

void	getCommonParameters (std::string &source_topic)
	Supporting routine obtaining ROS-parameters common for all data sources. More...

bool	sourceValid (const rclcpp::Time &source_time, const rclcpp::Time &curr_time) const
	Checks whether the source data might be considered as valid. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

bool	getTransform (const rclcpp::Time &curr_time, const std_msgs::msg::Header &data_header, tf2::Transform &tf_transform) const
	Obtain the transform to get data from source frame and time where it was received to the base frame and current time (if base_shift_correction_ is true) or the transform without time shift considered which is less accurate but much more faster option not dependent on state estimation frames. More...

Protected Attributes
rclcpp::Subscription< sensor_msgs::msg::Range >::SharedPtr	data_sub_
	Range sensor data subscriber.

double	obstacles_angle_
	Angle increment (in rad) between two obstacle points at the range arc.

sensor_msgs::msg::Range::ConstSharedPtr	data_
	Latest data obtained from range sensor.

Protected Attributes inherited from nav2_collision_monitor::Source
nav2_util::LifecycleNode::WeakPtr	node_
	Collision Monitor node.

rclcpp::Logger	logger_ {rclcpp::get_logger("collision_monitor")}
	Collision monitor node logger stored for further usage.

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
	Dynamic parameters handler.

std::string	source_name_
	Name of data source.

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

std::string	base_frame_id_
	Robot base frame ID.

std::string	global_frame_id_
	Global frame ID for correct transform calculation.

tf2::Duration	transform_tolerance_
	Transform tolerance.

rclcpp::Duration	source_timeout_
	Maximum time interval in which data is considered valid.

bool	base_shift_correction_
	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time.

bool	enabled_
	Whether source is enabled.

Detailed Description

Implementation for IR/ultrasound range sensor source.

Definition at line 32 of file range.hpp.

Constructor & Destructor Documentation

nav2_collision_monitor::Range::Range	(	const nav2_util::LifecycleNode::WeakPtr &	node,
		const std::string &	source_name,
		const std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		const std::string &	base_frame_id,
		const std::string &	global_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

Range constructor.

Parameters

node	Collision Monitor node pointer
source_name	Name of data source
tf_buffer	Shared pointer to a TF buffer
base_frame_id	Robot base frame ID. The output data will be transformed into this frame.
global_frame_id	Global frame ID for correct transform calculation
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

Definition at line 29 of file range.cpp.

void nav2_collision_monitor::Range::dataCallback ( sensor_msgs::msg::Range::ConstSharedPtr msg )

protected

Range sensor data callback.

Parameters

msg	Shared pointer to Range sensor message

Definition at line 145 of file range.cpp.

References data_.

Referenced by configure().

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bool nav2_collision_monitor::Range::getData	(	const rclcpp::Time &	curr_time,
		std::vector< Point > &	data
	)

virtual

Adds latest data from range sensor to the data array.

Parameters

curr_time	Current node time for data interpolation
data	Array where the data from source to be added. Added data is transformed to base_frame_id_ coordinate system at curr_time.