This class that smooths cmd_vel velocities for robot bases. More...

#include <nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp>

Inheritance diagram for nav2_velocity_smoother::VelocitySmoother:

Collaboration diagram for nav2_velocity_smoother::VelocitySmoother:

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Public Member Functions
	VelocitySmoother (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_velocity_smoother::VelocitySmoother. More...

	~VelocitySmoother ()
	Destructor for nav2_velocity_smoother::VelocitySmoother.

double	findEtaConstraint (const double v_curr, const double v_cmd, const double accel, const double decel)
	Find the scale factor, eta, which scales axis into acceleration range. More...

double	applyConstraints (const double v_curr, const double v_cmd, const double accel, const double decel, const double eta)
	Apply acceleration and scale factor constraints. 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 Member Functions
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configures parameters and member variables. More...

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

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

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Calls clean up states and resets member variables. More...

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

void	inputCommandCallback (const geometry_msgs::msg::Twist::SharedPtr msg)
	Callback for incoming velocity commands. More...

void	inputCommandStampedCallback (const geometry_msgs::msg::TwistStamped::SharedPtr msg)

void	smootherTimer ()
	Main worker timer function.

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Dynamic reconfigure callback. 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< nav2_util::OdomSmoother >	odom_smoother_

std::unique_ptr< nav2_util::TwistPublisher >	smoothed_cmd_pub_

std::unique_ptr< nav2_util::TwistSubscriber >	cmd_sub_

rclcpp::TimerBase::SharedPtr	timer_

rclcpp::Clock::SharedPtr	clock_

geometry_msgs::msg::TwistStamped	last_cmd_

geometry_msgs::msg::TwistStamped::SharedPtr	command_

double	smoothing_frequency_

double	odom_duration_

std::string	odom_topic_

bool	open_loop_

bool	stopped_ {true}

bool	scale_velocities_

std::vector< double >	max_velocities_

std::vector< double >	min_velocities_

std::vector< double >	max_accels_

std::vector< double >	max_decels_

std::vector< double >	deadband_velocities_

rclcpp::Duration	velocity_timeout_ {0, 0}

rclcpp::Time	last_command_time_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

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

This class that smooths cmd_vel velocities for robot bases.

Definition at line 41 of file velocity_smoother.hpp.

Constructor & Destructor Documentation

◆ VelocitySmoother()

nav2_velocity_smoother::VelocitySmoother::VelocitySmoother ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_velocity_smoother::VelocitySmoother.

Parameters

options Additional options to control creation of the node.

Definition at line 32 of file velocity_smoother.cpp.

Member Function Documentation

◆ applyConstraints()

double nav2_velocity_smoother::VelocitySmoother::applyConstraints	(	const double	v_curr,
		const double	v_cmd,
		const double	accel,
		const double	decel,
		const double	eta
	)

Apply acceleration and scale factor constraints.

Parameters

v_curr	current velocity
v_cmd	commanded velocity
accel	maximum acceleration
decel	maximum deceleration
eta	Scale factor

Returns: Velocity command

Definition at line 282 of file velocity_smoother.cpp.

Referenced by smootherTimer().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_velocity_smoother::VelocitySmoother::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Dynamic reconfigure callback.

Parameters

parameters Parameter list to change

Definition at line 394 of file velocity_smoother.cpp.

References nav2_util::LifecycleNode::shared_from_this(), and smootherTimer().

Referenced by on_activate().

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◆ findEtaConstraint()

double nav2_velocity_smoother::VelocitySmoother::findEtaConstraint	(	const double	v_curr,
		const double	v_cmd,
		const double	accel,
		const double	decel
	)

Find the scale factor, eta, which scales axis into acceleration range.

Parameters

v_curr	current velocity
v_cmd	commanded velocity
accel	maximum acceleration
decel	maximum deceleration

Returns: Scale factor, eta

Definition at line 251 of file velocity_smoother.cpp.

Referenced by smootherTimer().

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◆ inputCommandCallback()

void nav2_velocity_smoother::VelocitySmoother::inputCommandCallback ( const geometry_msgs::msg::Twist::SharedPtr msg )

protected

Callback for incoming velocity commands.

Parameters

msg	Twist message

Definition at line 243 of file velocity_smoother.cpp.

Referenced by on_configure().

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◆ on_activate()

nav2_util::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activates member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 174 of file velocity_smoother.cpp.

References nav2_util::LifecycleNode::createBond(), dynamicParametersCallback(), and smootherTimer().

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◆ on_cleanup()

nav2_util::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Calls clean up states and resets member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 210 of file velocity_smoother.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2_util::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configures parameters and member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 47 of file velocity_smoother.cpp.

References inputCommandCallback(), on_cleanup(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2_util::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivates member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 192 of file velocity_smoother.cpp.

References nav2_util::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2_util::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in Shutdown state.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 220 of file velocity_smoother.cpp.

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

nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp
nav2_velocity_smoother/src/velocity_smoother.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VelocitySmoother()

Member Function Documentation

◆ applyConstraints()

◆ dynamicParametersCallback()

◆ findEtaConstraint()

◆ inputCommandCallback()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()