opennav_docking_core::ChargingDock Class Reference

Abstract interface for a charging dock for the docking framework. More...

#include <nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp>

Inheritance diagram for opennav_docking_core::ChargingDock:

Collaboration diagram for opennav_docking_core::ChargingDock:

Public Types
using	Ptr = std::shared_ptr< ChargingDock >

Public Member Functions
virtual	~ChargingDock ()
	Virtual destructor.
virtual void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > tf)=0
virtual void	cleanup ()=0
	Method to cleanup resources used on shutdown.
virtual void	activate ()=0
	Method to active Behavior and any threads involved in execution.
virtual void	deactivate ()=0
	Method to deactive Behavior and any threads involved in execution.
virtual geometry_msgs::msg::PoseStamped	getStagingPose (const geometry_msgs::msg::Pose &pose, const std::string &frame)=0
	Method to obtain the dock's staging pose. This method should likely be using TF and the dock's pose information to find the staging pose from a static or parameterized staging pose relative to the docking pose. More...
virtual bool	getRefinedPose (geometry_msgs::msg::PoseStamped &pose, std::string id)=0
	Method to obtain the refined pose of the dock, usually based on sensors. More...
virtual bool	isDocked ()=0
	Have we made contact with dock? This can be implemented in a variety of ways: by establishing communications with the dock, by monitoring the the drive motor efforts, etc. More...
virtual bool	isCharging ()=0
	Are we charging? If a charge dock requires any sort of negotiation to begin charging, that should happen inside this function as this function will be called repeatedly after the docking loop to check if successful. More...
virtual bool	disableCharging ()=0
	Undocking while current is still flowing can damage a charge dock so some charge docks provide the ability to disable charging before the robot physically disconnects. The undocking action will not command the robot to move until this returns true. More...
virtual bool	hasStoppedCharging ()=0
	Similar to isCharging() but called when undocking.
virtual bool	isCharger ()
	Gets if this is a charging-typed dock.
std::string	getName ()

Protected Attributes
std::string	name_

Detailed Description

Abstract interface for a charging dock for the docking framework.

Definition at line 34 of file charging_dock.hpp.

Member Function Documentation

configure()

virtual void opennav_docking_core::ChargingDock::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent, const std::string &  name, std::shared_ptr< tf2_ros::Buffer >  tf  )

pure virtual

Parameters

parent	pointer to user's node
name	The name of this planner
tf	A pointer to a TF buffer

Implemented in opennav_docking_core::NonChargingDock, opennav_docking::SimpleNonChargingDock, and opennav_docking::SimpleChargingDock.

disableCharging()

virtual bool opennav_docking_core::ChargingDock::disableCharging ( )

pure virtual

Undocking while current is still flowing can damage a charge dock so some charge docks provide the ability to disable charging before the robot physically disconnects. The undocking action will not command the robot to move until this returns true.

NOTE: this function is expected to return QUICKLY. Blocking here will block the docking controller loop.

Implemented in opennav_docking_core::NonChargingDock, and opennav_docking::SimpleChargingDock.

getRefinedPose()

virtual bool opennav_docking_core::ChargingDock::getRefinedPose ( geometry_msgs::msg::PoseStamped &  pose, std::string  id  )

pure virtual

Method to obtain the refined pose of the dock, usually based on sensors.

Parameters

pose	The initial estimate of the dock pose.
frame	The frame of the initial estimate.

Implemented in opennav_docking_core::NonChargingDock, opennav_docking::SimpleNonChargingDock, and opennav_docking::SimpleChargingDock.

getStagingPose()

virtual geometry_msgs::msg::PoseStamped opennav_docking_core::ChargingDock::getStagingPose ( const geometry_msgs::msg::Pose &  pose, const std::string &  frame  )

pure virtual

Method to obtain the dock's staging pose. This method should likely be using TF and the dock's pose information to find the staging pose from a static or parameterized staging pose relative to the docking pose.

Parameters

pose	Dock pose
frame	Dock's frame of pose

Returns

PoseStamped of staging pose in the specified frame

Implemented in opennav_docking_core::NonChargingDock, opennav_docking::SimpleNonChargingDock, and opennav_docking::SimpleChargingDock.

isCharging()

virtual bool opennav_docking_core::ChargingDock::isCharging ( )

pure virtual

Are we charging? If a charge dock requires any sort of negotiation to begin charging, that should happen inside this function as this function will be called repeatedly after the docking loop to check if successful.

NOTE: this function is expected to return QUICKLY. Blocking here will block the docking controller loop.

Implemented in opennav_docking_core::NonChargingDock, and opennav_docking::SimpleChargingDock.

isDocked()

virtual bool opennav_docking_core::ChargingDock::isDocked ( )

pure virtual

Have we made contact with dock? This can be implemented in a variety of ways: by establishing communications with the dock, by monitoring the the drive motor efforts, etc.

NOTE: this function is expected to return QUICKLY. Blocking here will block the docking controller loop.

Implemented in opennav_docking_core::NonChargingDock, opennav_docking::SimpleNonChargingDock, and opennav_docking::SimpleChargingDock.

---

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

• nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp