An action server implements the behavior tree's ComputePathToPose interface and hosts various plugins of different algorithms to compute plans. More...

#include <nav2_planner/include/nav2_planner/planner_server.hpp>

Inheritance diagram for nav2_planner::PlannerServer:

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Public Types
using	PlannerMap = std::unordered_map< std::string, nav2_core::GlobalPlanner::Ptr >

Public Member Functions
	PlannerServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_planner::PlannerServer. More...

	~PlannerServer ()
	A destructor for nav2_planner::PlannerServer.

nav_msgs::msg::Path	getPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, const std::string &planner_id, std::function< bool()> cancel_checker)
	Method to get plan from the desired plugin. More...

Public Member Functions inherited from nav2_util::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns="", const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has no integer or floating point range constraints. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const floating_point_range fp_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has a floating point range constraint. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const integer_range int_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has an integer range constraint. More...

std::shared_ptr< nav2_util::LifecycleNode >	shared_from_this ()
	Get a shared pointer of this.

nav2_util::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Types
using	ActionToPose = nav2_msgs::action::ComputePathToPose

using	ActionToPoseResult = ActionToPose::Result

using	ActionThroughPoses = nav2_msgs::action::ComputePathThroughPoses

using	ActionThroughPosesResult = ActionThroughPoses::Result

using	ActionServerToPose = nav2_util::SimpleActionServer< ActionToPose >

using	ActionServerThroughPoses = nav2_util::SimpleActionServer< ActionThroughPoses >

Protected Member Functions
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configure member variables and initializes planner. More...

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activate member variables. More...

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivate member variables. More...

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Reset member variables. More...

nav2_util::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in shutdown state. More...

template<typename T >
bool	isServerInactive (std::unique_ptr< nav2_util::SimpleActionServer< T >> &action_server)
	Check if an action server is valid / active. More...

template<typename T >
bool	isCancelRequested (std::unique_ptr< nav2_util::SimpleActionServer< T >> &action_server)
	Check if an action server has a cancellation request pending. More...

void	waitForCostmap ()
	Wait for costmap to be valid with updated sensor data or repopulate after a clearing recovery. Blocks until true without timeout.

template<typename T >
void	getPreemptedGoalIfRequested (std::unique_ptr< nav2_util::SimpleActionServer< T >> &action_server, typename std::shared_ptr< const typename T::Goal > goal)
	Check if an action server has a preemption request and replaces the goal with the new preemption goal. More...

template<typename T >
bool	getStartPose (typename std::shared_ptr< const typename T::Goal > goal, geometry_msgs::msg::PoseStamped &start)
	Get the starting pose from costmap or message, if valid. More...

bool	transformPosesToGlobalFrame (geometry_msgs::msg::PoseStamped &curr_start, geometry_msgs::msg::PoseStamped &curr_goal)
	Transform start and goal poses into the costmap global frame for path planning plugins to utilize. More...

template<typename T >
bool	validatePath (const geometry_msgs::msg::PoseStamped &curr_goal, const nav_msgs::msg::Path &path, const std::string &planner_id)
	Validate that the path contains a meaningful path. More...

void	computePlan ()
	The action server callback which calls planner to get the path ComputePathToPose.

void	computePlanThroughPoses ()
	The action server callback which calls planner to get the path ComputePathThroughPoses.

void	isPathValid (const std::shared_ptr< nav2_msgs::srv::IsPathValid::Request > request, std::shared_ptr< nav2_msgs::srv::IsPathValid::Response > response)
	The service callback to determine if the path is still valid. More...

void	publishPlan (const nav_msgs::msg::Path &path)
	Publish a path for visualization purposes. More...

void	exceptionWarning (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, const std::string &planner_id, const std::exception &ex)

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

Protected Member Functions inherited from nav2_util::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::unique_ptr< ActionServerToPose >	action_server_pose_

std::unique_ptr< ActionServerThroughPoses >	action_server_poses_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

std::mutex	dynamic_params_lock_

PlannerMap	planners_

pluginlib::ClassLoader< nav2_core::GlobalPlanner >	gp_loader_

std::vector< std::string >	default_ids_

std::vector< std::string >	default_types_

std::vector< std::string >	planner_ids_

std::vector< std::string >	planner_types_

double	max_planner_duration_

rclcpp::Duration	costmap_update_timeout_

std::string	planner_ids_concat_

std::shared_ptr< tf2_ros::Buffer >	tf_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

std::unique_ptr< nav2_util::NodeThread >	costmap_thread_

nav2_costmap_2d::Costmap2D *	costmap_

std::unique_ptr< nav2_costmap_2d::FootprintCollisionChecker< nav2_costmap_2d::Costmap2D * > >	collision_checker_

rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path >::SharedPtr	plan_publisher_

rclcpp::Service< nav2_msgs::srv::IsPathValid >::SharedPtr	is_path_valid_service_

Protected Attributes inherited from nav2_util::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::unique_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

An action server implements the behavior tree's ComputePathToPose interface and hosts various plugins of different algorithms to compute plans.

Definition at line 52 of file planner_server.hpp.

Constructor & Destructor Documentation

◆ PlannerServer()

nav2_planner::PlannerServer::PlannerServer ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_planner::PlannerServer.

Parameters

options Additional options to control creation of the node.

Definition at line 43 of file planner_server.cpp.

Member Function Documentation

◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_planner::PlannerServer::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 718 of file planner_server.cpp.

Referenced by on_activate().

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◆ getPlan()

nav_msgs::msg::Path nav2_planner::PlannerServer::getPlan	(	const geometry_msgs::msg::PoseStamped &	start,
		const geometry_msgs::msg::PoseStamped &	goal,
		const std::string &	planner_id,
		std::function< bool()>	cancel_checker
	)

Method to get plan from the desired plugin.

Parameters

start	starting pose
goal	goal request
planner_id	The planner to plan with
cancel_checker	A function to check if the action has been canceled

Returns: Path

Definition at line 605 of file planner_server.cpp.

Referenced by computePlan(), and computePlanThroughPoses().

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◆ getPreemptedGoalIfRequested()

template<typename T >

void nav2_planner::PlannerServer::getPreemptedGoalIfRequested	(	std::unique_ptr< nav2_util::SimpleActionServer< T >> &	action_server,
		typename std::shared_ptr< const typename T::Goal >	goal
	)

protected

Check if an action server has a preemption request and replaces the goal with the new preemption goal.

Parameters

action_server	Action server to get updated goal if required
goal	Goal to overwrite

Definition at line 317 of file planner_server.cpp.

Referenced by computePlan(), and computePlanThroughPoses().

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◆ getStartPose()

template<typename T >

bool nav2_planner::PlannerServer::getStartPose	(	typename std::shared_ptr< const typename T::Goal >	goal,
		geometry_msgs::msg::PoseStamped &	start
	)

protected

Get the starting pose from costmap or message, if valid.

Parameters

action_server	Action server to terminate if required
goal	Goal to find start from
start	The starting pose to use

Returns: bool If successful in finding a valid starting pose

Definition at line 327 of file planner_server.cpp.

◆ isCancelRequested()

template<typename T >

bool nav2_planner::PlannerServer::isCancelRequested ( std::unique_ptr< nav2_util::SimpleActionServer< T >> & action_server )

protected

Check if an action server has a cancellation request pending.

Parameters

action_server Action server to test

Returns: SUCCESS or FAILURE

Definition at line 304 of file planner_server.cpp.

Referenced by computePlan(), and computePlanThroughPoses().

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◆ isPathValid()

void nav2_planner::PlannerServer::isPathValid	(	const std::shared_ptr< nav2_msgs::srv::IsPathValid::Request >	request,
		std::shared_ptr< nav2_msgs::srv::IsPathValid::Response >	response
	)

protected

The service callback to determine if the path is still valid.

Parameters

request	to the service
response	from the service

The lethal check starts at the closest point to avoid points that have already been passed and may have become occupied. The method for collision detection is based on the shape of the footprint.

Definition at line 646 of file planner_server.cpp.

References nav2_costmap_2d::Costmap2D::getCost(), and nav2_costmap_2d::Costmap2D::worldToMap().

Referenced by on_activate().

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◆ isServerInactive()

template<typename T >

bool nav2_planner::PlannerServer::isServerInactive ( std::unique_ptr< nav2_util::SimpleActionServer< T >> & action_server )

protected

Check if an action server is valid / active.

Parameters

action_server Action server to test

Returns: SUCCESS or FAILURE

Definition at line 279 of file planner_server.cpp.

Referenced by computePlan(), and computePlanThroughPoses().

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◆ on_activate()

nav2_util::CallbackReturn nav2_planner::PlannerServer::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activate member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 182 of file planner_server.cpp.

References nav2_util::LifecycleNode::createBond(), dynamicParametersCallback(), isPathValid(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_cleanup()

nav2_util::CallbackReturn nav2_planner::PlannerServer::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Reset member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 249 of file planner_server.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2_util::CallbackReturn nav2_planner::PlannerServer::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configure member variables and initializes planner.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 83 of file planner_server.cpp.

References computePlan(), computePlanThroughPoses(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), nav2_costmap_2d::Costmap2D::getSizeInCellsY(), on_cleanup(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2_util::CallbackReturn nav2_planner::PlannerServer::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivate member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 218 of file planner_server.cpp.

References nav2_util::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2_util::CallbackReturn nav2_planner::PlannerServer::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in shutdown state.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 272 of file planner_server.cpp.

◆ publishPlan()

void nav2_planner::PlannerServer::publishPlan ( const nav_msgs::msg::Path & path )

protected

Publish a path for visualization purposes.

Parameters

path	Reference to Global Path

Definition at line 638 of file planner_server.cpp.

Referenced by computePlan(), and computePlanThroughPoses().

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◆ transformPosesToGlobalFrame()

bool nav2_planner::PlannerServer::transformPosesToGlobalFrame	(	geometry_msgs::msg::PoseStamped &	curr_start,
		geometry_msgs::msg::PoseStamped &	curr_goal
	)

protected

Transform start and goal poses into the costmap global frame for path planning plugins to utilize.

Parameters

start	The starting pose to transform
goal	Goal pose to transform

Returns: bool If successful in transforming poses

Definition at line 340 of file planner_server.cpp.

Referenced by computePlan(), and computePlanThroughPoses().

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◆ validatePath()

template<typename T >

bool nav2_planner::PlannerServer::validatePath	(	const geometry_msgs::msg::PoseStamped &	curr_goal,
		const nav_msgs::msg::Path &	path,
		const std::string &	planner_id
	)

protected

Validate that the path contains a meaningful path.

Parameters

action_server	Action server to terminate if required
goal	Goal Current goal
path	Current path
planner_id	The planner ID used to generate the path

Returns: bool If path is valid

Definition at line 354 of file planner_server.cpp.

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

nav2_planner/include/nav2_planner/planner_server.hpp
nav2_planner/src/planner_server.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlannerServer()

Member Function Documentation

◆ dynamicParametersCallback()

◆ getPlan()

◆ getPreemptedGoalIfRequested()

◆ getStartPose()

◆ isCancelRequested()

◆ isPathValid()

◆ isServerInactive()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ publishPlan()

◆ transformPosesToGlobalFrame()

◆ validatePath()