nav2_route::AdjustSpeedLimit Class Reference

A route operation to process on state changes to evaluate if speed limits should be adjusted based on graph edge metadata. More...

#include <nav2_route/include/nav2_route/plugins/route_operations/adjust_speed_limit.hpp>

Inheritance diagram for nav2_route::AdjustSpeedLimit:

Collaboration diagram for nav2_route::AdjustSpeedLimit:

Public Member Functions
	AdjustSpeedLimit ()=default
	Constructor.
virtual	~AdjustSpeedLimit ()=default
	destructor
void	configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, const std::string &name) override
	Configure.
std::string	getName () override
	Get name of the plugin for parameter scope mapping. More...
RouteOperationType	processType () override
	Indication that the adjust speed limit route operation is performed on all state changes. More...
OperationResult	perform (NodePtr node_achieved, EdgePtr edge_entered, EdgePtr edge_exited, const Route &route, const geometry_msgs::msg::PoseStamped &curr_pose, const Metadata *mdata=nullptr) override
	The main speed limit operation to adjust the maximum speed of the vehicle. More...
Public Member Functions inherited from nav2_route::RouteOperation
	RouteOperation ()=default
	Constructor.
virtual	~RouteOperation ()=default
	Destructor.

Protected Attributes
std::string	name_
std::string	speed_tag_
rclcpp::Logger	logger_ {rclcpp::get_logger("AdjustSpeedLimit")}
rclcpp_lifecycle::LifecyclePublisher< nav2_msgs::msg::SpeedLimit >::SharedPtr	speed_limit_pub_

Additional Inherited Members
Public Types inherited from nav2_route::RouteOperation
using	Ptr = std::shared_ptr< nav2_route::RouteOperation >

Detailed Description

A route operation to process on state changes to evaluate if speed limits should be adjusted based on graph edge metadata.

Definition at line 35 of file adjust_speed_limit.hpp.

Member Function Documentation

getName()

std::string nav2_route::AdjustSpeedLimit::getName ( )

inlineoverridevirtual

Get name of the plugin for parameter scope mapping.

Returns

Name

Implements nav2_route::RouteOperation.

Definition at line 60 of file adjust_speed_limit.hpp.

Referenced by configure().

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perform()

OperationResult nav2_route::AdjustSpeedLimit::perform ( NodePtr  node_achieved, EdgePtr  edge_entered, EdgePtr  edge_exited, const Route &  route, const geometry_msgs::msg::PoseStamped &  curr_pose, const Metadata *  mdata = nullptr  )

overridevirtual

The main speed limit operation to adjust the maximum speed of the vehicle.

Parameters

mdata	Metadata corresponding to the operation in the navigation graph. If metadata is invalid or irrelevant, a nullptr is given
node_achieved	Node achieved, for additional context
edge_entered	Edge entered by node achievement, for additional context
edge_exited	Edge exited by node achievement, for additional context
route	Current route being tracked in full, for additional context
curr_pose	Current robot pose in the route frame, for additional context

Returns

Whether to perform rerouting and report blocked edges in that case

Implements nav2_route::RouteOperation.

Definition at line 45 of file adjust_speed_limit.cpp.

processType()

RouteOperationType nav2_route::AdjustSpeedLimit::processType ( )

inlineoverridevirtual

Indication that the adjust speed limit route operation is performed on all state changes.

Returns

The type of operation (on graph call, on status changes, or constantly)

Reimplemented from nav2_route::RouteOperation.

Definition at line 67 of file adjust_speed_limit.hpp.

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

• nav2_route/include/nav2_route/plugins/route_operations/adjust_speed_limit.hpp
• nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp