nav2_controller::PoseProgressChecker Class Reference

This plugin is used to check the position and the angle of the robot to make sure that it is actually progressing or rotating towards a goal. More...

#include <nav2_controller/include/nav2_controller/plugins/pose_progress_checker.hpp>

Inheritance diagram for nav2_controller::PoseProgressChecker:

Collaboration diagram for nav2_controller::PoseProgressChecker:

Public Member Functions
void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name) override
	Initialize parameters for ProgressChecker. More...
bool	check (geometry_msgs::msg::PoseStamped &current_pose) override
	Checks if the robot has moved compare to previous pose. More...
Public Member Functions inherited from nav2_controller::SimpleProgressChecker
void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name) override
	Initialize parameters for ProgressChecker. More...
bool	check (geometry_msgs::msg::PoseStamped &current_pose) override
	Checks if the robot has moved compare to previous pose. More...
void	reset () override
	Reset class state upon calling.

Protected Member Functions
bool	isRobotMovedEnough (const geometry_msgs::msg::Pose2D &pose)
	Calculates robots movement from baseline pose. More...
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a paramter change is detected. More...
Protected Member Functions inherited from nav2_controller::SimpleProgressChecker
bool	isRobotMovedEnough (const geometry_msgs::msg::Pose2D &pose)
	Calculates robots movement from baseline pose. More...
void	resetBaselinePose (const geometry_msgs::msg::Pose2D &pose)
	Resets baseline pose with the current pose of the robot. More...
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a paramter change is detected. More...

Static Protected Member Functions
static double	poseAngleDistance (const geometry_msgs::msg::Pose2D &, const geometry_msgs::msg::Pose2D &)
Static Protected Member Functions inherited from nav2_controller::SimpleProgressChecker
static double	pose_distance (const geometry_msgs::msg::Pose2D &, const geometry_msgs::msg::Pose2D &)

Protected Attributes
double	required_movement_angle_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
std::string	plugin_name_
Protected Attributes inherited from nav2_controller::SimpleProgressChecker
rclcpp::Clock::SharedPtr	clock_
double	radius_
rclcpp::Duration	time_allowance_ {0, 0}
geometry_msgs::msg::Pose2D	baseline_pose_
rclcpp::Time	baseline_time_
bool	baseline_pose_set_ {false}
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
std::string	plugin_name_

Additional Inherited Members
Public Types inherited from nav2_core::ProgressChecker
typedef std::shared_ptr< nav2_core::ProgressChecker >	Ptr

Detailed Description

This plugin is used to check the position and the angle of the robot to make sure that it is actually progressing or rotating towards a goal.

Definition at line 32 of file pose_progress_checker.hpp.

Member Function Documentation

check()

bool nav2_controller::PoseProgressChecker::check ( geometry_msgs::msg::PoseStamped &  current_pose )

overridevirtual

Checks if the robot has moved compare to previous pose.

Parameters

current_pose

Current pose of the robot

Returns

True if progress is made

Implements nav2_core::ProgressChecker.

Definition at line 50 of file pose_progress_checker.cpp.

References isRobotMovedEnough(), and nav2_controller::SimpleProgressChecker::resetBaselinePose().

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dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::PoseProgressChecker::dynamicParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Callback executed when a paramter change is detected.

Parameters

parameters

list of changed parameters

Definition at line 78 of file pose_progress_checker.cpp.

Referenced by initialize().

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initialize()

void nav2_controller::PoseProgressChecker::initialize ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent, const std::string &  plugin_name  )

overridevirtual

Initialize parameters for ProgressChecker.

Parameters

parent

Node pointer

Implements nav2_core::ProgressChecker.

Definition at line 33 of file pose_progress_checker.cpp.

References dynamicParametersCallback(), and nav2_controller::SimpleProgressChecker::initialize().

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isRobotMovedEnough()

bool nav2_controller::PoseProgressChecker::isRobotMovedEnough ( const geometry_msgs::msg::Pose2D &  pose )

protected

Calculates robots movement from baseline pose.

Parameters

pose	Current pose of the robot

Returns

true, if movement is greater than radius_, or false

Definition at line 64 of file pose_progress_checker.cpp.

Referenced by check().

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

• nav2_controller/include/nav2_controller/plugins/pose_progress_checker.hpp
• nav2_controller/plugins/pose_progress_checker.cpp