nav2_core::Controller Class Reference

controller interface that acts as a virtual base class for all controller plugins More...

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

Inheritance diagram for nav2_core::Controller:

Public Types
using	Ptr = std::shared_ptr< nav2_core::Controller >

Public Member Functions
virtual	~Controller ()
	Virtual destructor.
virtual void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &, std::string name, std::shared_ptr< tf2_ros::Buffer >, std::shared_ptr< nav2_costmap_2d::Costmap2DROS >)=0
virtual void	cleanup ()=0
	Method to cleanup resources.
virtual void	activate ()=0
	Method to active planner and any threads involved in execution.
virtual void	deactivate ()=0
	Method to deactive planner and any threads involved in execution.
virtual void	setPlan (const nav_msgs::msg::Path &path)=0
	local setPlan - Sets the global plan More...
virtual geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::Twist &velocity, nav2_core::GoalChecker *goal_checker)=0
	Controller computeVelocityCommands - calculates the best command given the current pose and velocity. More...
virtual bool	cancel ()
	Cancel the current control action. More...
virtual void	setSpeedLimit (const double &speed_limit, const bool &percentage)=0
	Limits the maximum linear speed of the robot. More...
virtual void	reset ()
	Reset the state of the controller if necessary after task is exited.

Detailed Description

controller interface that acts as a virtual base class for all controller plugins

Definition at line 60 of file controller.hpp.

Member Function Documentation

cancel()

virtual bool nav2_core::Controller::cancel ( )

inlinevirtual

Cancel the current control action.

Returns

True if the cancellation was successful. If false is returned, computeVelocityCommands will be called until cancel returns true.

Reimplemented in nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController.

Definition at line 124 of file controller.hpp.

computeVelocityCommands()

virtual geometry_msgs::msg::TwistStamped nav2_core::Controller::computeVelocityCommands ( const geometry_msgs::msg::PoseStamped &  pose, const geometry_msgs::msg::Twist &  velocity, nav2_core::GoalChecker *  goal_checker  )

pure virtual

Controller computeVelocityCommands - calculates the best command given the current pose and velocity.

It is presumed that the global plan is already set.

This is mostly a wrapper for the protected computeVelocityCommands function which has additional debugging info.

Parameters

pose	Current robot pose
velocity	Current robot velocity
goal_checker	Pointer to the current goal checker the task is utilizing

Returns

The best command for the robot to drive

Implemented in nav2_mppi_controller::MPPIController, nav2_graceful_controller::GracefulController, nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, dwb_core::DWBLocalPlanner, and nav2_system_tests::UnknownErrorController.

configure()

virtual void nav2_core::Controller::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  , std::string  name, std::shared_ptr< tf2_ros::Buffer >  , std::shared_ptr< nav2_costmap_2d::Costmap2DROS >    )

pure virtual

Parameters

parent	pointer to user's node
costmap_ros	A pointer to the costmap

Implemented in nav2_rotation_shim_controller::RotationShimController, nav2_graceful_controller::GracefulController, dwb_core::DWBLocalPlanner, nav2_mppi_controller::MPPIController, and nav2_system_tests::UnknownErrorController.

setPlan()

virtual void nav2_core::Controller::setPlan ( const nav_msgs::msg::Path &  path )

pure virtual

local setPlan - Sets the global plan

Parameters

path	The global plan

Implemented in nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, nav2_mppi_controller::MPPIController, nav2_graceful_controller::GracefulController, dwb_core::DWBLocalPlanner, and nav2_system_tests::UnknownErrorController.

setSpeedLimit()

virtual void nav2_core::Controller::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

pure virtual

Limits the maximum linear speed of the robot.

Parameters

speed_limit	expressed in absolute value (in m/s) or in percentage from maximum robot speed.
percentage	Setting speed limit in percentage if true or in absolute values in false case.

Implemented in nav2_rotation_shim_controller::RotationShimController, nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController, nav2_mppi_controller::MPPIController, nav2_graceful_controller::GracefulController, dwb_core::DWBLocalPlanner, and nav2_system_tests::UnknownErrorController.

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

• nav2_core/include/nav2_core/controller.hpp