nav2_collision_monitor::Scan Class Reference

Implementation for laser scanner source. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp>

Inheritance diagram for nav2_collision_monitor::Scan:

Collaboration diagram for nav2_collision_monitor::Scan:

Public Member Functions
	Scan (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Scan constructor. More...
	~Scan ()
	Scan destructor.
void	configure ()
	Data source configuration routine. Obtains ROS-parameters and creates laser scanner subscriber.
bool	getData (const rclcpp::Time &curr_time, std::vector< Point > &data)
	Adds latest data from laser scanner to the data array. More...
Public Member Functions inherited from nav2_collision_monitor::Source
	Source (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Source constructor. More...
virtual	~Source ()
	Source destructor.
bool	getEnabled () const
	Obtains source enabled state. More...
std::string	getSourceName () const
	Obtains the name of the data source. More...
rclcpp::Duration	getSourceTimeout () const
	Obtains the source_timeout parameter of the data source. More...

Protected Member Functions
void	dataCallback (sensor_msgs::msg::LaserScan::ConstSharedPtr msg)
	Laser scanner data callback. More...
Protected Member Functions inherited from nav2_collision_monitor::Source
bool	configure ()
	Source configuration routine. More...
void	getCommonParameters (std::string &source_topic)
	Supporting routine obtaining ROS-parameters common for all data sources. More...
bool	sourceValid (const rclcpp::Time &source_time, const rclcpp::Time &curr_time) const
	Checks whether the source data might be considered as valid. More...
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...
bool	getTransform (const rclcpp::Time &curr_time, const std_msgs::msg::Header &data_header, tf2::Transform &tf_transform) const
	Obtain the transform to get data from source frame and time where it was received to the base frame and current time (if base_shift_correction_ is true) or the transform without time shift considered which is less accurate but much more faster option not dependent on state estimation frames. More...

Protected Attributes
rclcpp::Subscription< sensor_msgs::msg::LaserScan >::SharedPtr	data_sub_
	Laser scanner data subscriber.
sensor_msgs::msg::LaserScan::ConstSharedPtr	data_
	Latest data obtained from laser scanner.
Protected Attributes inherited from nav2_collision_monitor::Source
nav2_util::LifecycleNode::WeakPtr	node_
	Collision Monitor node.
rclcpp::Logger	logger_ {rclcpp::get_logger("collision_monitor")}
	Collision monitor node logger stored for further usage.
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
	Dynamic parameters handler.
std::string	source_name_
	Name of data source.
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
	TF buffer.
std::string	base_frame_id_
	Robot base frame ID.
std::string	global_frame_id_
	Global frame ID for correct transform calculation.
tf2::Duration	transform_tolerance_
	Transform tolerance.
rclcpp::Duration	source_timeout_
	Maximum time interval in which data is considered valid.
bool	base_shift_correction_
	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time.
bool	enabled_
	Whether source is enabled.

Detailed Description

Implementation for laser scanner source.

Definition at line 32 of file scan.hpp.

Constructor & Destructor Documentation

Scan()

nav2_collision_monitor::Scan::Scan	(	const nav2_util::LifecycleNode::WeakPtr &	node,
		const std::string &	source_name,
		const std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		const std::string &	base_frame_id,
		const std::string &	global_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

Scan constructor.

Parameters

node	Collision Monitor node pointer
source_name	Name of data source
tf_buffer	Shared pointer to a TF buffer
base_frame_id	Robot base frame ID. The output data will be transformed into this frame.
global_frame_id	Global frame ID for correct transform calculation
transform_tolerance	Transform tolerance
source_timeout	Maximum time interval in which data is considered valid
base_shift_correction	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time

Definition at line 27 of file scan.cpp.

References nav2_collision_monitor::Source::logger_, and nav2_collision_monitor::Source::source_name_.

Member Function Documentation

dataCallback()

void nav2_collision_monitor::Scan::dataCallback ( sensor_msgs::msg::LaserScan::ConstSharedPtr  msg )

protected

Laser scanner data callback.

Parameters

msg	Shared pointer to LaserScan message

Definition at line 106 of file scan.cpp.

References data_.

Referenced by configure().

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getData()

bool nav2_collision_monitor::Scan::getData ( const rclcpp::Time &  curr_time, std::vector< Point > &  data  )

virtual

Adds latest data from laser scanner to the data array.

Parameters

curr_time	Current node time for data interpolation
data	Array where the data from source to be added. Added data is transformed to base_frame_id_ coordinate system at curr_time.

Returns

false if an invalid source should block the robot

Implements nav2_collision_monitor::Source.

Definition at line 69 of file scan.cpp.

References data_, nav2_collision_monitor::Source::getTransform(), and nav2_collision_monitor::Source::sourceValid().

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

• nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp
• nav2_collision_monitor/src/scan.cpp