An action server implements a Navigation Route-Graph planner to compliment free-space planning in the Planner Server. More...

#include <nav2_route/include/nav2_route/route_server.hpp>

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Public Types
using	ComputeRoute = nav2_msgs::action::ComputeRoute

using	ComputeRouteGoal = ComputeRoute::Goal

using	ComputeRouteResult = ComputeRoute::Result

using	ComputeRouteServer = nav2_util::SimpleActionServer< ComputeRoute >

using	ComputeAndTrackRoute = nav2_msgs::action::ComputeAndTrackRoute

using	ComputeAndTrackRouteGoal = ComputeAndTrackRoute::Goal

using	ComputeAndTrackRouteFeedback = ComputeAndTrackRoute::Feedback

using	ComputeAndTrackRouteResult = ComputeAndTrackRoute::Result

using	ComputeAndTrackRouteServer = nav2_util::SimpleActionServer< ComputeAndTrackRoute >

Public Member Functions
	RouteServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_route::RouteServer. More...

	~RouteServer ()=default
	A destructor for nav2_route::RouteServer.

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 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...

void	computeRoute ()
	Main route action server callbacks for computing and tracking a route.

void	computeAndTrackRoute ()

template<typename GoalT >
Route	findRoute (const std::shared_ptr< const GoalT > goal, ReroutingState &rerouting_info)
	Compute a route to the goal, incorporating rerouting information. More...

template<typename GoalT >
Route	findRoute (const std::shared_ptr< const GoalT > goal)
	Compute a route to the goal. More...

template<typename ActionT >
void	processRouteRequest (std::shared_ptr< nav2_util::SimpleActionServer< ActionT >> &action_server)
	Main processing called by both action server callbacks to centralize the great deal of shared code between them.

rclcpp::Duration	findPlanningDuration (const rclcpp::Time &start_time)
	Find the planning duration of the request and log warnings. More...

template<typename ActionT >
bool	isRequestValid (std::shared_ptr< nav2_util::SimpleActionServer< ActionT >> &action_server)
	Find the routing request is valid (action server OK and not cancelled) More...

void	populateActionResult (std::shared_ptr< ComputeRoute::Result > result, const Route &route, const nav_msgs::msg::Path &path, const rclcpp::Duration &planning_duration)
	Populate result for compute route action. More...

void	populateActionResult (std::shared_ptr< ComputeAndTrackRoute::Result >, const Route &, const nav_msgs::msg::Path &, const rclcpp::Duration &)
	Populate result for compute and track route action. More...

void	setRouteGraph (const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Request > request, std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Response > response)
	The service callback to set a new route graph. More...

template<typename GoalT >
void	exceptionWarning (const std::shared_ptr< const GoalT > goal, const std::exception &ex)
	Log exception warnings, templated by action message type. 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::shared_ptr< ComputeRouteServer >	compute_route_server_

std::shared_ptr< ComputeAndTrackRouteServer >	compute_and_track_route_server_

std::shared_ptr< tf2_ros::Buffer >	tf_

std::shared_ptr< tf2_ros::TransformListener >	transform_listener_

rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray >::SharedPtr	graph_vis_publisher_

rclcpp::Service< nav2_msgs::srv::SetRouteGraph >::SharedPtr	set_graph_service_

std::shared_ptr< GraphLoader >	graph_loader_

std::shared_ptr< RoutePlanner >	route_planner_

std::shared_ptr< RouteTracker >	route_tracker_

std::shared_ptr< PathConverter >	path_converter_

std::shared_ptr< GoalIntentExtractor >	goal_intent_extractor_

std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_subscriber_

Graph	graph_

GraphToIDMap	id_to_graph_map_

std::string	route_frame_

std::string	base_frame_

std::string	global_frame_

double	max_planning_time_

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

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

double	bond_heartbeat_period

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

An action server implements a Navigation Route-Graph planner to compliment free-space planning in the Planner Server.

Definition at line 54 of file route_server.hpp.

Constructor & Destructor Documentation

◆ RouteServer()

nav2_route::RouteServer::RouteServer ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_route::RouteServer.

Parameters

options Additional options to control creation of the node.

Definition at line 24 of file route_server.cpp.

Member Function Documentation

◆ exceptionWarning()

template<typename GoalT >

void nav2_route::RouteServer::exceptionWarning	(	const std::shared_ptr< const GoalT >	goal,
		const std::exception &	ex
	)

protected

Log exception warnings, templated by action message type.

Parameters

goal	Goal that failed
exception	Exception message

Definition at line 403 of file route_server.cpp.

◆ findPlanningDuration()

rclcpp::Duration nav2_route::RouteServer::findPlanningDuration ( const rclcpp::Time & start_time )

protected

Find the planning duration of the request and log warnings.

Parameters

start_time Start of planning time

Returns: Duration of planning time

Definition at line 173 of file route_server.cpp.

◆ findRoute() [1/2]

template<typename GoalT >

Route nav2_route::RouteServer::findRoute ( const std::shared_ptr< const GoalT > goal )

protected

Compute a route to the goal.

Parameters

goal	The request goal information.

Returns: A route from the selected start node to the goal.

Definition at line 232 of file route_server.cpp.

References findRoute().

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◆ findRoute() [2/2]

template<typename GoalT >

Route nav2_route::RouteServer::findRoute	(	const std::shared_ptr< const GoalT >	goal,
		ReroutingState &	rerouting_info
	)

protected

Compute a route to the goal, incorporating rerouting information.

This method combines finding the starting and ending nodes with the route planner to determine the relevant node locations and compute the route. The provided ReroutingState can specify:

an updated starting node ID when tracking a previous route,
an overridden starting pose for rerouting,
optional constraints such as blocked elements to avoid (if provided).

This allows progress to continue smoothly when re-planning or recovering from partial execution of a previous route.

Parameters

goal	The request goal information.
rerouting_info	State describing updated start and rerouting context.

Returns: A route from the selected start node to the goal.

Definition at line 239 of file route_server.cpp.

Referenced by findRoute(), and processRouteRequest().

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◆ isRequestValid()

template<typename ActionT >

bool nav2_route::RouteServer::isRequestValid ( std::shared_ptr< nav2_util::SimpleActionServer< ActionT >> & action_server )

protected

Find the routing request is valid (action server OK and not cancelled)

Parameters

action_server Actions server to check

Returns: if the request is valid

Definition at line 188 of file route_server.cpp.

◆ on_activate()

nav2_util::CallbackReturn nav2_route::RouteServer::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 124 of file route_server.cpp.

References nav2_util::LifecycleNode::createBond().

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◆ on_cleanup()

nav2_util::CallbackReturn nav2_route::RouteServer::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 147 of file route_server.cpp.

◆ on_configure()

nav2_util::CallbackReturn nav2_route::RouteServer::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 29 of file route_server.cpp.

References computeRoute(), setRouteGraph(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2_util::CallbackReturn nav2_route::RouteServer::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 136 of file route_server.cpp.

References nav2_util::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2_util::CallbackReturn nav2_route::RouteServer::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 166 of file route_server.cpp.

◆ populateActionResult() [1/2]

void nav2_route::RouteServer::populateActionResult	(	std::shared_ptr< ComputeAndTrackRoute::Result >	result,
		const Route &	,
		const nav_msgs::msg::Path &	,
		const rclcpp::Duration &	execution_duration
	)

protected

Populate result for compute and track route action.

Parameters

result	Result to populate
route	Route to use to populate result
path	Path to use to populate result
planning_duration	Time to create a valid route

Definition at line 222 of file route_server.cpp.

◆ populateActionResult() [2/2]

void nav2_route::RouteServer::populateActionResult	(	std::shared_ptr< ComputeRoute::Result >	result,
		const Route &	route,
		const nav_msgs::msg::Path &	path,
		const rclcpp::Duration &	planning_duration
	)

protected

Populate result for compute route action.

Parameters

result	Result to populate
route	Route to use to populate result
path	Path to use to populate result
planning_duration	Time to create a valid route

Definition at line 211 of file route_server.cpp.

◆ setRouteGraph()

void nav2_route::RouteServer::setRouteGraph	(	const std::shared_ptr< rmw_request_id_t >	,
		const std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Request >	request,
		std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Response >	response
	)

protected

The service callback to set a new route graph.

Parameters

request_header	to the service
request	to the service
response	from the service

Definition at line 378 of file route_server.cpp.

Referenced by on_configure().

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

nav2_route/include/nav2_route/route_server.hpp
nav2_route/src/route_server.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RouteServer()

Member Function Documentation

◆ exceptionWarning()

◆ findPlanningDuration()

◆ findRoute() [1/2]

◆ findRoute() [2/2]

◆ isRequestValid()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ populateActionResult() [1/2]

◆ populateActionResult() [2/2]

◆ setRouteGraph()