nav2_system_tests::UnknownErrorController Class Reference

Inheritance diagram for nav2_system_tests::UnknownErrorController:

Collaboration diagram for nav2_system_tests::UnknownErrorController:

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

Additional Inherited Members
Public Types inherited from nav2_core::Controller
using	Ptr = std::shared_ptr< nav2_core::Controller >

Detailed Description

Definition at line 27 of file controller_error_plugins.hpp.

Member Function Documentation

computeVelocityCommands()

virtual geometry_msgs::msg::TwistStamped nav2_system_tests::UnknownErrorController::computeVelocityCommands ( const geometry_msgs::msg::PoseStamped &  pose, const geometry_msgs::msg::Twist &  velocity, nav2_core::GoalChecker *  goal_checker  )

inlinevirtual

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

Implements nav2_core::Controller.

Definition at line 46 of file controller_error_plugins.hpp.

configure()

void nav2_system_tests::UnknownErrorController::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  , std::string  name, std::shared_ptr< tf2_ros::Buffer >  , std::shared_ptr< nav2_costmap_2d::Costmap2DROS >    )

inlineoverridevirtual

Parameters

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

Implements nav2_core::Controller.

Definition at line 33 of file controller_error_plugins.hpp.

setPlan()

void nav2_system_tests::UnknownErrorController::setPlan ( const nav_msgs::msg::Path &  path )

inlinevirtual

local setPlan - Sets the global plan

Parameters

path	The global plan

Implements nav2_core::Controller.

Definition at line 44 of file controller_error_plugins.hpp.

setSpeedLimit()

void nav2_system_tests::UnknownErrorController::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

inlinevirtual

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.

Implements nav2_core::Controller.

Definition at line 54 of file controller_error_plugins.hpp.

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

• nav2_system_tests/src/error_codes/controller/controller_error_plugins.hpp