Basic data source class. More...

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

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Public Member Functions
	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.

virtual bool	getData (const rclcpp::Time &curr_time, std::vector< Point > &data)=0
	Adds latest data from source to the data array. Empty virtual method intended to be used in child implementations. More...

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
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
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

Basic data source class.

Definition at line 37 of file source.hpp.

Constructor & Destructor Documentation

◆ Source()

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.

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 27 of file source.cpp.

Member Function Documentation

◆ configure()

bool nav2_collision_monitor::Source::configure ( )

protected

Source configuration routine.

Returns: True in case of everything is configured correctly, or false otherwise

Definition at line 47 of file source.cpp.

References dyn_params_handler_, dynamicParametersCallback(), and node_.

Referenced by nav2_collision_monitor::PointCloud::configure(), nav2_collision_monitor::PolygonSource::configure(), nav2_collision_monitor::Range::configure(), and nav2_collision_monitor::Scan::configure().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_collision_monitor::Source::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 116 of file source.cpp.

References enabled_, and source_name_.

Referenced by configure().

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◆ getCommonParameters()

void nav2_collision_monitor::Source::getCommonParameters ( std::string & source_topic )

protected

Supporting routine obtaining ROS-parameters common for all data sources.

Parameters

source_topic Output name of source subscription topic

Definition at line 58 of file source.cpp.

References enabled_, node_, source_name_, and source_timeout_.

Referenced by nav2_collision_monitor::Scan::configure(), nav2_collision_monitor::PointCloud::getParameters(), nav2_collision_monitor::PolygonSource::getParameters(), and nav2_collision_monitor::Range::getParameters().

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◆ getData()

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

pure virtual

Adds latest data from source to the data array. Empty virtual method intended to be used in child implementations.

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.

Returns: false if an invalid source should block the robot

Implemented in nav2_collision_monitor::Scan, nav2_collision_monitor::Range, nav2_collision_monitor::PolygonSource, and nav2_collision_monitor::PointCloud.

◆ getEnabled()

bool nav2_collision_monitor::Source::getEnabled ( ) const

Obtains source enabled state.

Returns: Whether source is enabled

Definition at line 100 of file source.cpp.

References enabled_.

◆ getSourceName()

std::string nav2_collision_monitor::Source::getSourceName ( ) const

Obtains the name of the data source.

Returns: Name of the data source

Definition at line 105 of file source.cpp.

References source_name_.

◆ getSourceTimeout()

rclcpp::Duration nav2_collision_monitor::Source::getSourceTimeout ( ) const

Obtains the source_timeout parameter of the data source.

Returns: source_timeout parameter value of the data source

Definition at line 110 of file source.cpp.

References source_timeout_.

◆ getTransform()

bool nav2_collision_monitor::Source::getTransform	(	const rclcpp::Time &	curr_time,
		const std_msgs::msg::Header &	data_header,
		tf2::Transform &	tf_transform
	)		const

protected

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.

Parameters