An object the call navigation to obtain initial staging pose. More...

Collaboration diagram for opennav_docking::Navigator:

Public Types
using	Nav2Pose = nav2_msgs::action::NavigateToPose

using	ActionClient = rclcpp_action::Client< Nav2Pose >

Public Member Functions
	Navigator (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent)
	A constructor for opennav_docking::Navigator. More...

	~Navigator ()=default
	A destructor for opennav_docking::Navigator.

void	activate ()
	An activation method.

void	deactivate ()
	An deactivation method.

void	goToPose (const geometry_msgs::msg::PoseStamped &pose, rclcpp::Duration remaining_staging_duration, std::function< bool()> isPreempted, bool recursed=false)
	An method to go to a particular pose May throw exception if fails to navigate or communicate Blocks until completion. More...

Protected Attributes
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

rclcpp::CallbackGroup::SharedPtr	callback_group_

rclcpp::executors::SingleThreadedExecutor	executor_

ActionClient::SharedPtr	nav_to_pose_client_

std::string	navigator_bt_xml_

Detailed Description

An object the call navigation to obtain initial staging pose.

Definition at line 39 of file navigator.hpp.

Constructor & Destructor Documentation

opennav_docking::Navigator::Navigator ( const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent )

explicit

Parameters

parent Weakptr to the node to use to get interances and parameters

Definition at line 23 of file navigator.cpp.

void opennav_docking::Navigator::goToPose	(	const geometry_msgs::msg::PoseStamped &	pose,
		rclcpp::Duration	remaining_staging_duration,
		std::function< bool()>	isPreempted,
		bool	recursed = `false`
	)

An method to go to a particular pose May throw exception if fails to navigate or communicate Blocks until completion.

Parameters

pose	Pose to go to
remaining_staging_duration	Remaining time to get to the staging pose
isPreempted	Function to check if preempted
recursed	True if recursed (used to retry once)

Definition at line 53 of file navigator.cpp.

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