Inheritance diagram for nav2_simple_commander.robot_navigator.BasicNavigator:

Collaboration diagram for nav2_simple_commander.robot_navigator.BasicNavigator:

Public Member Functions
def	__init__ (self, node_name='basic_navigator', namespace='')

def	destroyNode (self)

def	destroy_node (self)

def	setInitialPose (self, initial_pose)

def	goThroughPoses (self, poses, behavior_tree='')

def	goToPose (self, pose, behavior_tree='')

def	followWaypoints (self, poses)

def	followGpsWaypoints (self, gps_poses)

def	spin (self, spin_dist=1.57, time_allowance=10)

def	backup (self, backup_dist=0.15, backup_speed=0.025, time_allowance=10)

def	driveOnHeading (self, dist=0.15, speed=0.025, time_allowance=10)

def	assistedTeleop (self, time_allowance=30)

def	followPath (self, path, controller_id='', goal_checker_id='')

def	dockRobotByPose (self, dock_pose, dock_type, nav_to_dock=True)

def	dockRobotByID (self, dock_id, nav_to_dock=True)

def	undockRobot (self, dock_type='')

def	cancelTask (self)

def	isTaskComplete (self)

def	getFeedback (self)

def	getResult (self)

def	waitUntilNav2Active (self, navigator='bt_navigator', localizer='amcl')

def	getPath (self, start, goal, planner_id='', use_start=False)

def	getPathThroughPoses (self, start, goals, planner_id='', use_start=False)

def	smoothPath (self, path, smoother_id='', max_duration=2.0, check_for_collision=False)

def	changeMap (self, map_filepath)

def	clearAllCostmaps (self)

def	clearLocalCostmap (self)

def	clearGlobalCostmap (self)

def	clearCostmapExceptRegion (self, float reset_distance)

def	clearCostmapAroundRobot (self, float reset_distance)

def	clearCostmapAroundPose (self, PoseStamped pose, float reset_distance)

def	getGlobalCostmap (self)

def	getLocalCostmap (self)

def	lifecycleStartup (self)

def	lifecycleShutdown (self)

def	info (self, msg)

def	warn (self, msg)

def	error (self, msg)

def	debug (self, msg)

Public Attributes
	initial_pose

	goal_handle

	result_future

	feedback

	status

	initial_pose_received

	nav_through_poses_client

	nav_to_pose_client

	follow_waypoints_client

	follow_gps_waypoints_client

	follow_path_client

	compute_path_to_pose_client

	compute_path_through_poses_client

	smoother_client

	spin_client

	backup_client

	drive_on_heading_client

	assisted_teleop_client

	docking_client

	undocking_client

	localization_pose_sub

	initial_pose_pub

	change_maps_srv

	clear_costmap_global_srv

	clear_costmap_local_srv

	clear_costmap_except_region_srv

	clear_costmap_around_robot_srv

	clear_costmap_around_pose_srv

	get_costmap_global_srv

	get_costmap_local_srv

Detailed Description

Definition at line 56 of file robot_navigator.py.

Member Function Documentation

◆ cancelTask()

def nav2_simple_commander.robot_navigator.BasicNavigator.cancelTask ( self )

Cancel pending task request of any type.

Definition at line 454 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ changeMap()

def nav2_simple_commander.robot_navigator.BasicNavigator.changeMap	(	self,
		map_filepath
	)

Change the current static map in the map server.

Definition at line 647 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.change_maps_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearAllCostmaps()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps ( self )

Clear all costmaps.

Definition at line 662 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap(), and nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap().

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◆ clearCostmapAroundPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapAroundPose	(		self,
		PoseStamped	pose,
		float	reset_distance
	)

Clear the costmap around a specified pose.

Definition at line 706 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_around_pose_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearCostmapAroundRobot()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapAroundRobot	(		self,
		float	reset_distance
	)

Clear the costmap around the robot.

Definition at line 696 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_around_robot_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearCostmapExceptRegion()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapExceptRegion	(		self,
		float	reset_distance
	)

Clear the costmap except for a specified region.

Definition at line 686 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_except_region_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearGlobalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap ( self )

Clear global costmap.

Definition at line 677 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_global_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ clearLocalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap ( self )

Clear local costmap.

Definition at line 668 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_local_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ dockRobotByID()

def nav2_simple_commander.robot_navigator.BasicNavigator.dockRobotByID	(	self,
		dock_id,
		nav_to_dock = `True`
	)

Send a `DockRobot` action request.

Definition at line 408 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.docking_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ dockRobotByPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.dockRobotByPose	(	self,
		dock_pose,
		dock_type,
		nav_to_dock = `True`
	)

Send a `DockRobot` action request.

Definition at line 383 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.docking_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ followGpsWaypoints()

def nav2_simple_commander.robot_navigator.BasicNavigator.followGpsWaypoints	(	self,
		gps_poses
	)

Send a `FollowGPSWaypoints` action request.

Definition at line 244 of file robot_navigator.py.

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◆ followPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.followPath	(	self,
		path,
		controller_id = `''`,
		goal_checker_id = `''`
	)

Send a `FollowPath` action request.

Definition at line 358 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_path_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ followWaypoints()

def nav2_simple_commander.robot_navigator.BasicNavigator.followWaypoints	(	self,
		poses
	)

Send a `FollowWaypoints` action request.

Definition at line 221 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_waypoints_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ getFeedback()

def nav2_simple_commander.robot_navigator.BasicNavigator.getFeedback ( self )

Get the pending action feedback message.

Definition at line 480 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.feedback.

◆ getGlobalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.getGlobalCostmap ( self )

Get the global costmap.

Definition at line 717 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_global_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getLocalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.getLocalCostmap ( self )

Get the local costmap.

Definition at line 726 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_local_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.getPath	(	self,
		start,
		goal,
		planner_id = `''`,
		use_start = `False`
	)

Send a `ComputePathToPose` action request.

Definition at line 536 of file robot_navigator.py.

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◆ getPathThroughPoses()

def nav2_simple_commander.robot_navigator.BasicNavigator.getPathThroughPoses	(	self,
		start,
		goals,
		planner_id = `''`,
		use_start = `False`
	)

Send a `ComputePathThroughPoses` action request.

Definition at line 586 of file robot_navigator.py.

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◆ getResult()

def nav2_simple_commander.robot_navigator.BasicNavigator.getResult ( self )

Get the pending action result message.

Definition at line 484 of file robot_navigator.py.

References nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

◆ goThroughPoses()

def nav2_simple_commander.robot_navigator.BasicNavigator.goThroughPoses	(	self,
		poses,
		behavior_tree = `''`
	)

Send a `NavThroughPoses` action request.

Definition at line 161 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_through_poses_client, nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ goToPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.goToPose	(	self,
		pose,
		behavior_tree = `''`
	)

Send a `NavToPose` action request.

Definition at line 185 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_to_pose_client, nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, and spin_tester.SpinTest.result_future.

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◆ isTaskComplete()

def nav2_simple_commander.robot_navigator.BasicNavigator.isTaskComplete ( self )

Check if the task request of any type is complete yet.

Definition at line 462 of file robot_navigator.py.

References nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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◆ lifecycleShutdown()

def nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleShutdown ( self )

Shutdown nav2 lifecycle system.

Definition at line 759 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.feedback, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), loopback_simulator.LoopbackSimulator.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_pub, tester_node.NavTester.initial_pose_pub, nav_through_poses_tester_node.NavTester.initial_pose_pub, nav_to_pose_tester_node.NavTester.initial_pose_pub, tester.WaypointFollowerTest.initial_pose_pub, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, and tester.WaypointFollowerTest.initial_pose_received.

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◆ lifecycleStartup()

def nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleStartup ( self )

Startup nav2 lifecycle system.

Definition at line 735 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._waitForInitialPose(), loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ setInitialPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.setInitialPose	(	self,
		initial_pose
	)

Set the initial pose to the localization system.

Definition at line 155 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), loopback_simulator.LoopbackSimulator.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, and tester.WaypointFollowerTest.initial_pose_received.

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◆ smoothPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.smoothPath	(	self,
		path,
		smoother_id = `''`,
		max_duration = `2.0`,
		check_for_collision = `False`
	)

Send a `SmoothPath` action request.

Definition at line 632 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._smoothPathImpl(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ undockRobot()

def nav2_simple_commander.robot_navigator.BasicNavigator.undockRobot	(	self,
		dock_type = `''`
	)

Send a `UndockRobot` action request.

Definition at line 432 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.undocking_client.

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◆ waitUntilNav2Active()

def nav2_simple_commander.robot_navigator.BasicNavigator.waitUntilNav2Active	(	self,
		navigator = `'bt_navigator'`,
		localizer = `'amcl'`
	)

Block until the full navigation system is up and running.

Definition at line 495 of file robot_navigator.py.

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

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ cancelTask()

◆ changeMap()

◆ clearAllCostmaps()

◆ clearCostmapAroundPose()

◆ clearCostmapAroundRobot()

◆ clearCostmapExceptRegion()

◆ clearGlobalCostmap()

◆ clearLocalCostmap()

◆ dockRobotByID()

◆ dockRobotByPose()

◆ followGpsWaypoints()

◆ followPath()

◆ followWaypoints()

◆ getFeedback()

◆ getGlobalCostmap()

◆ getLocalCostmap()

◆ getPath()

◆ getPathThroughPoses()

◆ getResult()

◆ goThroughPoses()

◆ goToPose()

◆ isTaskComplete()

◆ lifecycleShutdown()

◆ lifecycleStartup()

◆ setInitialPose()

◆ smoothPath()

◆ undockRobot()

◆ waitUntilNav2Active()