Navigator interface that acts as a base class for all BT-based Navigator action's plugins All methods from NavigatorBase are marked as final so they may not be overrided by derived methods - instead, users should use the appropriate APIs provided after BT Action handling. More...

#include <nav2_core/include/nav2_core/behavior_tree_navigator.hpp>

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Public Types
using	Ptr = std::shared_ptr< nav2_core::BehaviorTreeNavigator< ActionT > >

Public Member Functions
	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...

virtual std::string	getDefaultBTFilepath (rclcpp_lifecycle::LifecycleNode::WeakPtr node)=0

virtual std::string	getName ()=0
	Get the action name of this navigator to expose. More...

Protected Member Functions
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	goalReceived (typename ActionT::Goal::ConstSharedPtr goal)=0
	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.

virtual void	onLoop ()=0
	A callback that defines execution that happens on one iteration through the BT Can be used to publish action feedback.

virtual void	onPreempt (typename ActionT::Goal::ConstSharedPtr goal)=0
	A callback that is called when a preempt is requested.

virtual void	goalCompleted (typename ActionT::Result::SharedPtr result, const nav2_behavior_tree::BtStatus final_bt_status)=0
	A callback that is called when a the action is completed; Can fill in action result message or indicate that this action is done.

virtual bool	configure (rclcpp_lifecycle::LifecycleNode::WeakPtr, std::shared_ptr< nav2_util::OdomSmoother >)

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
std::unique_ptr< nav2_behavior_tree::BtActionServer< ActionT > >	bt_action_server_

rclcpp::Logger	logger_ {rclcpp::get_logger("Navigator")}

rclcpp::Clock::SharedPtr	clock_

FeedbackUtils	feedback_utils_

NavigatorMuxer *	plugin_muxer_

Detailed Description

template<class ActionT>
class nav2_core::BehaviorTreeNavigator< ActionT >

Navigator interface that acts as a base class for all BT-based Navigator action's plugins All methods from NavigatorBase are marked as final so they may not be overrided by derived methods - instead, users should use the appropriate APIs provided after BT Action handling.

Definition at line 159 of file behavior_tree_navigator.hpp.

Member Function Documentation

◆ configure()

template<class ActionT >

virtual bool nav2_core::BehaviorTreeNavigator< ActionT >::configure	(	rclcpp_lifecycle::LifecycleNode::WeakPtr	,
		std::shared_ptr< nav2_util::OdomSmoother >
	)

inlineprotectedvirtual

Parameters

Method to configure resources.

Reimplemented in nav2_bt_navigator::NavigateToPoseNavigator, and nav2_bt_navigator::NavigateThroughPosesNavigator.

Definition at line 347 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::on_configure().

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◆ getName()

template<class ActionT >

virtual std::string nav2_core::BehaviorTreeNavigator< ActionT >::getName ( )

pure virtual

Get the action name of this navigator to expose.

Returns: string Name of action to expose

Implemented in nav2_bt_navigator::NavigateToPoseNavigator, and nav2_bt_navigator::NavigateThroughPosesNavigator.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::on_configure(), nav2_core::BehaviorTreeNavigator< ActionT >::onCompletion(), and nav2_core::BehaviorTreeNavigator< ActionT >::onGoalReceived().

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◆ on_activate()

template<class ActionT >

bool nav2_core::BehaviorTreeNavigator< ActionT >::on_activate ( )

inlinefinalvirtual

Activation of the navigator's backend BT and actions.

Returns: bool If successful

Implements nav2_core::NavigatorBase.

Definition at line 235 of file behavior_tree_navigator.hpp.

References nav2_core::BehaviorTreeNavigator< ActionT >::activate().

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◆ on_cleanup()

template<class ActionT >

bool nav2_core::BehaviorTreeNavigator< ActionT >::on_cleanup ( )

inlinefinalvirtual

Cleanup a navigator.

Returns: bool If successful

Implements nav2_core::NavigatorBase.

Definition at line 264 of file behavior_tree_navigator.hpp.

References nav2_core::BehaviorTreeNavigator< ActionT >::cleanup().

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◆ on_configure()

template<class ActionT >

bool nav2_core::BehaviorTreeNavigator< ActionT >::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
	)

inlinefinalvirtual

Configuration to setup the navigator's backend BT and actions.

Parameters

parent_node	The ROS parent node to utilize
plugin_lib_names	a vector of plugin shared libraries to load
feedback_utils	Some utilities useful for navigators to have
plugin_muxer	The muxing object to ensure only one navigator can be active at a time
odom_smoother	Object to get current smoothed robot's speed