nav2_waypoint_follower::PhotoAtWaypoint Class Reference

Inheritance diagram for nav2_waypoint_follower::PhotoAtWaypoint:

Collaboration diagram for nav2_waypoint_follower::PhotoAtWaypoint:

Public Member Functions
	PhotoAtWaypoint ()
	Construct a new Photo At Waypoint object.
	~PhotoAtWaypoint ()
	Destroy the Photo At Waypoint object.
void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name)
	declares and loads parameters used More...
bool	processAtWaypoint (const geometry_msgs::msg::PoseStamped &curr_pose, const int &curr_waypoint_index)
	Override this to define the body of your task that you would like to execute once the robot arrived to waypoint. More...
void	imageCallback (const sensor_msgs::msg::Image::SharedPtr msg)
Public Member Functions inherited from nav2_core::WaypointTaskExecutor
	WaypointTaskExecutor ()
	Construct a new Simple Task Execution At Waypoint Base object.
virtual	~WaypointTaskExecutor ()
	Destroy the Simple Task Execution At Waypoint Base object.

Static Public Member Functions
static void	deepCopyMsg2Mat (const sensor_msgs::msg::Image::SharedPtr &msg, cv::Mat &mat)
	given a shared pointer to sensor::msg::Image type, make a deep copy to inputted cv Mat More...

Protected Attributes
std::mutex	global_mutex_
std::filesystem::path	save_dir_
std::string	image_format_
std::string	image_topic_
bool	is_enabled_
sensor_msgs::msg::Image::SharedPtr	curr_frame_msg_
rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_waypoint_follower")}
rclcpp::Subscription< sensor_msgs::msg::Image >::SharedPtr	camera_image_subscriber_

Detailed Description

Definition at line 44 of file photo_at_waypoint.hpp.

Member Function Documentation

deepCopyMsg2Mat()

void nav2_waypoint_follower::PhotoAtWaypoint::deepCopyMsg2Mat ( const sensor_msgs::msg::Image::SharedPtr &  msg, cv::Mat &  mat  )

static

given a shared pointer to sensor::msg::Image type, make a deep copy to inputted cv Mat

Parameters

msg
mat

Definition at line 144 of file photo_at_waypoint.cpp.

Referenced by processAtWaypoint().

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imageCallback()

void nav2_waypoint_follower::PhotoAtWaypoint::imageCallback

(

const sensor_msgs::msg::Image::SharedPtr

msg

)

Parameters

msg

Definition at line 138 of file photo_at_waypoint.cpp.

Referenced by initialize().

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initialize()

void nav2_waypoint_follower::PhotoAtWaypoint::initialize ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent, const std::string &  plugin_name  )

virtual

declares and loads parameters used

Parameters

parent	parent node that plugin will be created within
plugin_name	should be provided in nav2_params.yaml==> waypoint_follower

Implements nav2_core::WaypointTaskExecutor.

Definition at line 34 of file photo_at_waypoint.cpp.

References imageCallback().

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processAtWaypoint()

bool nav2_waypoint_follower::PhotoAtWaypoint::processAtWaypoint ( const geometry_msgs::msg::PoseStamped &  curr_pose, const int &  curr_waypoint_index  )

virtual

Override this to define the body of your task that you would like to execute once the robot arrived to waypoint.

Parameters

curr_pose	current pose of the robot
curr_waypoint_index	current waypoint, that robot just arrived

Returns

true if task execution was successful

false if task execution failed

Implements nav2_core::WaypointTaskExecutor.

Definition at line 101 of file photo_at_waypoint.cpp.

References deepCopyMsg2Mat().

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

• nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
• nav2_waypoint_follower/plugins/photo_at_waypoint.cpp