behavior_server::BehaviorServer Class Reference

An server hosting a map of behavior plugins. More...

#include <nav2_behaviors/include/nav2_behaviors/behavior_server.hpp>

Inheritance diagram for behavior_server::BehaviorServer:

Collaboration diagram for behavior_server::BehaviorServer:

Public Member Functions
	BehaviorServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for behavior_server::BehaviorServer. 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
bool	loadBehaviorPlugins ()
	Loads behavior plugins from parameter file. More...
void	configureBehaviorPlugins ()
	configures behavior plugins
void	setupResourcesForBehaviorPlugins ()
	configures behavior plugins
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configure lifecycle server.
nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activate lifecycle server.
nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivate lifecycle server.
nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Cleanup lifecycle server.
nav2_util::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Shutdown lifecycle server.
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::shared_ptr< tf2_ros::Buffer >	tf_
std::shared_ptr< tf2_ros::TransformListener >	transform_listener_
pluginlib::ClassLoader< nav2_core::Behavior >	plugin_loader_
std::vector< pluginlib::UniquePtr< nav2_core::Behavior > >	behaviors_
std::vector< std::string >	default_ids_
std::vector< std::string >	default_types_
std::vector< std::string >	behavior_ids_
std::vector< std::string >	behavior_types_
std::unique_ptr< nav2_costmap_2d::CostmapSubscriber >	local_costmap_sub_
std::unique_ptr< nav2_costmap_2d::FootprintSubscriber >	local_footprint_sub_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	local_collision_checker_
std::unique_ptr< nav2_costmap_2d::CostmapSubscriber >	global_costmap_sub_
std::unique_ptr< nav2_costmap_2d::FootprintSubscriber >	global_footprint_sub_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	global_collision_checker_
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

An server hosting a map of behavior plugins.

Definition at line 38 of file behavior_server.hpp.

Constructor & Destructor Documentation

BehaviorServer()

behavior_server::BehaviorServer::BehaviorServer ( const rclcpp::NodeOptions &  options = rclcpp::NodeOptions() )

explicit

A constructor for behavior_server::BehaviorServer.

Parameters

options

Additional options to control creation of the node.

Definition at line 25 of file behavior_server.cpp.

Member Function Documentation

loadBehaviorPlugins()

bool behavior_server::BehaviorServer::loadBehaviorPlugins ( )

protected

Loads behavior plugins from parameter file.

Returns

bool if successfully loaded the plugins

Definition at line 104 of file behavior_server.cpp.

References nav2_util::LifecycleNode::shared_from_this().

Referenced by on_configure().

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

• nav2_behaviors/include/nav2_behaviors/behavior_server.hpp
• nav2_behaviors/src/behavior_server.cpp