nav2_controller::SimpleGoalChecker Class Reference

Goal Checker plugin that only checks the position difference. More...

#include <nav2_controller/include/nav2_controller/plugins/simple_goal_checker.hpp>

Inheritance diagram for nav2_controller::SimpleGoalChecker:

Collaboration diagram for nav2_controller::SimpleGoalChecker:

Public Member Functions
void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Initialize any parameters from the NodeHandle. More...
void	reset () override
bool	isGoalReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity) override
	Check whether the goal should be considered reached. More...
bool	getTolerances (geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance) override
	Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y). More...

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Attributes
double	xy_goal_tolerance_
double	yaw_goal_tolerance_
bool	stateful_
bool	check_xy_
double	xy_goal_tolerance_sq_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
std::string	plugin_name_

Additional Inherited Members
Public Types inherited from nav2_core::GoalChecker
typedef std::shared_ptr< nav2_core::GoalChecker >	Ptr

Detailed Description

Goal Checker plugin that only checks the position difference.

This class can be stateful if the stateful parameter is set to true (which it is by default). This means that the goal checker will not check if the xy position matches again once it is found to be true.

Definition at line 57 of file simple_goal_checker.hpp.

Member Function Documentation

dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::SimpleGoalChecker::dynamicParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Callback executed when a parameter change is detected.

Parameters

parameters

list of changed parameters

Definition at line 144 of file simple_goal_checker.cpp.

getTolerances()

bool nav2_controller::SimpleGoalChecker::getTolerances ( geometry_msgs::msg::Pose &  pose_tolerance, geometry_msgs::msg::Twist &  vel_tolerance  )

overridevirtual

Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y).

Parameters

pose_tolerance	The tolerance used for checking in Pose fields
vel_tolerance	The tolerance used for checking velocity fields

Returns

True if the tolerances are valid to use

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 120 of file simple_goal_checker.cpp.

initialize()

void nav2_controller::SimpleGoalChecker::initialize ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent, const std::string &  plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros  )

overridevirtual

Initialize any parameters from the NodeHandle.

Parameters

parent

Node pointer for grabbing parameters

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 64 of file simple_goal_checker.cpp.

isGoalReached()

bool nav2_controller::SimpleGoalChecker::isGoalReached ( const geometry_msgs::msg::Pose &  query_pose, const geometry_msgs::msg::Pose &  goal_pose, const geometry_msgs::msg::Twist &  velocity  )

overridevirtual

Check whether the goal should be considered reached.

Parameters

query_pose	The pose to check
goal_pose	The pose to check against
velocity	The robot's current velocity

Returns

True if goal is reached

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 98 of file simple_goal_checker.cpp.

---

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

• nav2_controller/include/nav2_controller/plugins/simple_goal_checker.hpp
• nav2_controller/plugins/simple_goal_checker.cpp