Inheritance diagram for nav2_behaviors::TimedBehavior< ActionT >:

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Collaboration diagram for nav2_behaviors::TimedBehavior< ActionT >:

Public Types
using	ActionServer = nav2_util::SimpleActionServer< ActionT >

Public Types inherited from nav2_core::Behavior
using	Ptr = std::shared_ptr< Behavior >

Public Member Functions
	TimedBehavior ()
	A TimedBehavior constructor.

virtual ResultStatus	onRun (const std::shared_ptr< const typename ActionT::Goal > command)=0

virtual ResultStatus	onCycleUpdate ()=0

virtual void	onConfigure ()

virtual void	onCleanup ()

virtual void	onActionCompletion (std::shared_ptr< typename ActionT::Result >)

void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > local_collision_checker, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > global_collision_checker) override

void	cleanup () override
	Method to cleanup resources used on shutdown.

void	activate () override
	Method to active Behavior and any threads involved in execution.

void	deactivate () override
	Method to deactivate Behavior and any threads involved in execution.

Public Member Functions inherited from nav2_core::Behavior
virtual	~Behavior ()
	Virtual destructor.

virtual CostmapInfoType	getResourceInfo ()=0
	Method to determine the required costmap info. More...

Protected Attributes
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

std::string	behavior_name_

std::unique_ptr< nav2_util::TwistPublisher >	vel_pub_

std::shared_ptr< ActionServer >	action_server_

std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	local_collision_checker_

std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	global_collision_checker_

std::shared_ptr< tf2_ros::Buffer >	tf_

double	cycle_frequency_

double	enabled_

std::string	local_frame_

std::string	global_frame_

std::string	robot_base_frame_

double	transform_tolerance_

rclcpp::Duration	elapsed_time_ {0, 0}

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_behaviors")}

Detailed Description

Definition at line 66 of file timed_behavior.hpp.

Member Function Documentation

template<typename ActionT >

void nav2_behaviors::TimedBehavior< ActionT >::configure	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	parent,
		const std::string &	name,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	local_collision_checker,
		std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	global_collision_checker
	)

inlineoverridevirtual

Parameters

Definition at line 115 of file timed_behavior.hpp.

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