A route operation to trigger an event at a node or edge. This operation is meant to be named accordingly to the event of query in the parameter file (e.g. OpenDoor, CallElevator). Thus, a single TriggerEvent plugin type can support many different operation instances calling different services. It may be set up to either trigger a single service if the service_name is set in the parameter file at launch or trigger different services depending on the service_name set in the metadata of the node or edge operation given for centralized or decentralized events by node or edge.
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#include <nav2_route/include/nav2_route/plugins/route_operations/trigger_event.hpp>
Public Member Functions | |
| TriggerEvent ()=default | |
| Constructor. | |
| virtual | ~TriggerEvent ()=default |
| destructor | |
 Public Member Functions inherited from nav2_route::RouteOperationClient< std_srvs::srv::Trigger > | |
| RouteOperationClient ()=default | |
| Constructor. | |
| virtual | ~RouteOperationClient ()=default |
| destructor | |
| virtual void | configureEvent (const rclcpp_lifecycle::LifecycleNode::SharedPtr, const std::string &) |
Configure client with any necessary parameters, etc. May change or reset main_srv_name_ variable to control main service name and existence. | |
| virtual void | populateRequest (std::shared_ptr< typename SrvT::Request >, const Metadata *) |
| Populate request with details for service, if necessary. | |
| virtual OperationResult | processResponse (std::shared_ptr< typename SrvT::Response >) |
| Process response from service to populate a result, if necessary. | |
| Public Member Functions inherited from nav2_route::RouteOperation | |
| RouteOperation ()=default | |
| Constructor. | |
| virtual | ~RouteOperation ()=default |
| Destructor. | |
Additional Inherited Members | |
| Public Types inherited from nav2_route::RouteOperation | |
| using | Ptr = std::shared_ptr< nav2_route::RouteOperation > |
| Protected Member Functions inherited from nav2_route::RouteOperationClient< std_srvs::srv::Trigger > | |
| void | configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >, const std::string &name) final |
| Configure. | |
| OperationResult | perform (NodePtr node_achieved, EdgePtr, EdgePtr, const Route &, const geometry_msgs::msg::PoseStamped &, const Metadata *mdata) final |
| The main operation to call a service of arbitrary type and arbitrary name. More... | |
| std::shared_ptr< typename SrvT::Response > | callService (typename rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr client, std::shared_ptr< typename SrvT::Request > req, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(500ms)) |
| std::string | getName () override |
| Get name of the plugin for parameter scope mapping. More... | |
| RouteOperationType | processType () final |
| Indication that the adjust speed limit route operation is performed on all state changes. More... | |
| Protected Attributes inherited from nav2_route::RouteOperationClient< std_srvs::srv::Trigger > | |
| std::string | name_ |
| std::string | main_srv_name_ |
| std::atomic_bool | reroute_ |
| rclcpp::Logger | logger_ |
| rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr | main_client_ |
| rclcpp_lifecycle::LifecycleNode::WeakPtr | node_ |
| rclcpp::CallbackGroup::SharedPtr | callback_group_ |
| rclcpp::executors::SingleThreadedExecutor | callback_group_executor_ |
Detailed Description
A route operation to trigger an event at a node or edge. This operation is meant to be named accordingly to the event of query in the parameter file (e.g. OpenDoor, CallElevator). Thus, a single TriggerEvent plugin type can support many different operation instances calling different services. It may be set up to either trigger a single service if the service_name is set in the parameter file at launch or trigger different services depending on the service_name set in the metadata of the node or edge operation given for centralized or decentralized events by node or edge.
See the Route Operation Client for more details
Definition at line 45 of file trigger_event.hpp.
The documentation for this class was generated from the following file:
- nav2_route/include/nav2_route/plugins/route_operations/trigger_event.hpp
