Nav2 Navigation Stack - kilted  kilted
ROS 2 Navigation Stack
Public Member Functions | Public Attributes | List of all members
nav2_simple_commander.robot_navigator.BasicNavigator Class Reference
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Public Member Functions

None __init__ (self, str node_name='basic_navigator', str namespace='')
 
None destroyNode (self)
 
None destroy_node (self)
 
None setInitialPose (self, PoseStamped initial_pose)
 
Optional[RunningTask] goThroughPoses (self, Goals poses, str behavior_tree='')
 
Optional[RunningTask] goToPose (self, PoseStamped pose, str behavior_tree='')
 
Optional[RunningTask] followWaypoints (self, list[PoseStamped] poses)
 
Optional[RunningTask] followGpsWaypoints (self, list[GeoPose] gps_poses)
 
Optional[RunningTask] spin (self, float spin_dist=1.57, int time_allowance=10, bool disable_collision_checks=False)
 
Optional[RunningTask] backup (self, float backup_dist=0.15, float backup_speed=0.025, int time_allowance=10, bool disable_collision_checks=False)
 
Optional[RunningTask] driveOnHeading (self, float dist=0.15, float speed=0.025, int time_allowance=10, bool disable_collision_checks=False)
 
Optional[RunningTask] assistedTeleop (self, int time_allowance=30)
 
Optional[RunningTask] followPath (self, Path path, str controller_id='', str goal_checker_id='')
 
Optional[RunningTask] dockRobotByPose (self, PoseStamped dock_pose, str dock_type='', bool nav_to_dock=True)
 
Optional[RunningTask] dockRobotByID (self, str dock_id, bool nav_to_dock=True)
 
Optional[RunningTask] undockRobot (self, str dock_type='')
 
None cancelTask (self)
 
bool isTaskComplete (self, RunningTask task=RunningTask.NONE)
 
Any getFeedback (self, RunningTask task=RunningTask.NONE)
 
TaskResult getResult (self)
 
None clearTaskError (self)
 
None setTaskError (self, int error_code, str error_msg)
 
tuple[int, str] getTaskError (self)
 
None waitUntilNav2Active (self, str navigator='bt_navigator', str localizer='amcl')
 
Path getPath (self, PoseStamped start, PoseStamped goal, str planner_id='', bool use_start=False)
 
Path getPathThroughPoses (self, PoseStamped start, Goals goals, str planner_id='', bool use_start=False)
 
Optional[list[Union[Path, Route]]] getRoute (self, Union[int, PoseStamped] start, Union[int, PoseStamped] goal, bool use_start=False)
 
Optional[RunningTask] getAndTrackRoute (self, Union[int, PoseStamped] start, Union[int, PoseStamped] goal, bool use_start=False)
 
Path smoothPath (self, Path path, str smoother_id='', float max_duration=2.0, bool check_for_collision=False)
 
bool changeMap (self, str map_filepath)
 
None clearAllCostmaps (self)
 
None clearLocalCostmap (self)
 
None clearGlobalCostmap (self)
 
None clearCostmapExceptRegion (self, float reset_distance)
 
None clearCostmapAroundRobot (self, float reset_distance)
 
OccupancyGrid getGlobalCostmap (self)
 
OccupancyGrid getLocalCostmap (self)
 
None lifecycleStartup (self)
 
None lifecycleShutdown (self)
 
None info (self, str msg)
 
None warn (self, str msg)
 
None error (self, str msg)
 
None debug (self, str msg)
 

Public Attributes

 initial_pose
 
 last_action_error_code
 
 last_action_error_msg
 
 initial_pose_received
 
 nav_through_poses_client
 
 nav_to_pose_client
 
 follow_waypoints_client
 
 follow_gps_waypoints_client
 
 follow_path_client
 
 compute_path_to_pose_client
 
 compute_path_through_poses_client
 
 smoother_client
 
 compute_route_client
 
 compute_and_track_route_client
 
 spin_client
 
 backup_client
 
 drive_on_heading_client
 
 assisted_teleop_client
 
 docking_client
 
 undocking_client
 
 localization_pose_sub
 
 initial_pose_pub
 
 change_maps_srv
 
 clear_costmap_global_srv
 
 clear_costmap_local_srv
 
 clear_costmap_except_region_srv
 
 clear_costmap_around_robot_srv
 
 get_costmap_global_srv
 
 get_costmap_local_srv
 
 goal_handle
 
 result_future
 
 status
 
 route_goal_handle
 
 route_result_future
 
 feedback
 

Detailed Description

Definition at line 72 of file robot_navigator.py.

Member Function Documentation

◆ cancelTask()

None nav2_simple_commander.robot_navigator.BasicNavigator.cancelTask (   self) 
Cancel pending task request of any type.

Definition at line 536 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.route_goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.route_result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ changeMap()

bool nav2_simple_commander.robot_navigator.BasicNavigator.changeMap (   self,
str  map_filepath 
) 
Change the current static map in the map server.

Definition at line 924 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.change_maps_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ clearAllCostmaps()

None nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps (   self) 
Clear all costmaps.

Definition at line 957 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap(), and nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap().

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◆ clearCostmapAroundRobot()

None nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapAroundRobot (   self,
float  reset_distance 
) 
Clear the costmap around the robot.

Definition at line 991 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_around_robot_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearCostmapExceptRegion()

None nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapExceptRegion (   self,
float  reset_distance 
) 
Clear the costmap except for a specified region.

Definition at line 981 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_except_region_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearGlobalCostmap()

None nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap (   self) 
Clear global costmap.

Definition at line 972 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_global_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ clearLocalCostmap()

None nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap (   self) 
Clear local costmap.

Definition at line 963 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_local_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ dockRobotByID()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.dockRobotByID (   self,
str  dock_id,
bool   nav_to_dock = True 
) 
Send a `DockRobot` action request.

Definition at line 484 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.docking_client, nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ followGpsWaypoints()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.followGpsWaypoints (   self,
list[GeoPose]  gps_poses 
) 
Send a `FollowGPSWaypoints` action request.

Definition at line 286 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.assisted_teleop_client, nav2_simple_commander.robot_navigator.BasicNavigator.backup_client, nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.docking_client, nav2_simple_commander.robot_navigator.BasicNavigator.drive_on_heading_client, nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_gps_waypoints_client, nav2_simple_commander.robot_navigator.BasicNavigator.follow_path_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), and nav2_simple_commander.robot_navigator.BasicNavigator.spin_client.

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◆ followWaypoints()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.followWaypoints (   self,
list[PoseStamped]  poses 
) 
Send a `FollowWaypoints` action request.

Definition at line 260 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_waypoints_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ getAndTrackRoute()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.getAndTrackRoute (   self,
Union[int, PoseStamped]  start,
Union[int, PoseStamped]  goal,
bool   use_start = False 
) 
Send a `ComputeAndTrackRoute` action request.

Definition at line 828 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._routeFeedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_and_track_route_client, nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.route_goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.route_result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.smoother_client, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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◆ getFeedback()

Any nav2_simple_commander.robot_navigator.BasicNavigator.getFeedback (   self,
RunningTask   task = RunningTask.NONE 
) 
Get the pending action feedback message.

Definition at line 601 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.feedback.

◆ getGlobalCostmap()

OccupancyGrid nav2_simple_commander.robot_navigator.BasicNavigator.getGlobalCostmap (   self) 
Get the global costmap.

Definition at line 1001 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_global_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getLocalCostmap()

OccupancyGrid nav2_simple_commander.robot_navigator.BasicNavigator.getLocalCostmap (   self) 
Get the local costmap.

Definition at line 1016 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_local_srv, loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getPath()

Path nav2_simple_commander.robot_navigator.BasicNavigator.getPath (   self,
PoseStamped  start,
PoseStamped  goal,
str   planner_id = '',
bool   use_start = False 
) 
Send a `ComputePathToPose` action request.

Definition at line 680 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getPathImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_path_through_poses_client, nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ getPathThroughPoses()

Path nav2_simple_commander.robot_navigator.BasicNavigator.getPathThroughPoses (   self,
PoseStamped  start,
Goals  goals,
str   planner_id = '',
bool   use_start = False 
) 
Send a `ComputePathThroughPoses` action request.

Definition at line 742 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getPathThroughPosesImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_route_client, nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ getResult()

TaskResult nav2_simple_commander.robot_navigator.BasicNavigator.getResult (   self) 
Get the pending action result message.

Definition at line 609 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.last_action_error_code, nav2_simple_commander.robot_navigator.BasicNavigator.last_action_error_msg, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

◆ getRoute()

Optional[list[Union[Path, Route]]] nav2_simple_commander.robot_navigator.BasicNavigator.getRoute (   self,
Union[int, PoseStamped]  start,
Union[int, PoseStamped]  goal,
bool   use_start = False 
) 
Send a `ComputeRoute` action request.

Definition at line 809 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getRouteImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ goThroughPoses()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.goThroughPoses (   self,
Goals  poses,
str   behavior_tree = '' 
) 
Send a `NavThroughPoses` action request.

Definition at line 194 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_through_poses_client, nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ goToPose()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.goToPose (   self,
PoseStamped  pose,
str   behavior_tree = '' 
) 
Send a `NavToPose` action request.

Definition at line 221 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_to_pose_client, nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ isTaskComplete()

bool nav2_simple_commander.robot_navigator.BasicNavigator.isTaskComplete (   self,
RunningTask   task = RunningTask.NONE 
) 
Check if the task request of any type is complete yet.

Definition at line 558 of file robot_navigator.py.

References nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.route_result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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◆ lifecycleShutdown()

None nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleShutdown (   self) 
Shutdown nav2 lifecycle system.

Definition at line 1056 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.feedback, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), loopback_simulator.LoopbackSimulator.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, tester_node.RouteTester.initial_pose, nav_through_poses_tester_error_msg_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_pub, tester_node.NavTester.initial_pose_pub, tester_node.RouteTester.initial_pose_pub, nav_through_poses_tester_error_msg_node.NavTester.initial_pose_pub, nav_through_poses_tester_node.NavTester.initial_pose_pub, nav_to_pose_tester_node.NavTester.initial_pose_pub, tester.WaypointFollowerTest.initial_pose_pub, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, tester_node.RouteTester.initial_pose_received, nav_through_poses_tester_error_msg_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, and tester.WaypointFollowerTest.initial_pose_received.

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◆ lifecycleStartup()

None nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleStartup (   self) 
Startup nav2 lifecycle system.

Definition at line 1032 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._waitForInitialPose(), loopback_simulator.LoopbackSimulator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ setInitialPose()

None nav2_simple_commander.robot_navigator.BasicNavigator.setInitialPose (   self,
PoseStamped  initial_pose 
) 
Set the initial pose to the localization system.

Definition at line 188 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), loopback_simulator.LoopbackSimulator.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, tester_node.RouteTester.initial_pose, nav_through_poses_tester_error_msg_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, tester_node.RouteTester.initial_pose_received, nav_through_poses_tester_error_msg_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, and tester.WaypointFollowerTest.initial_pose_received.

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◆ smoothPath()

Path nav2_simple_commander.robot_navigator.BasicNavigator.smoothPath (   self,
Path  path,
str   smoother_id = '',
float   max_duration = 2.0,
bool   check_for_collision = False 
) 
Send a `SmoothPath` action request.

Definition at line 907 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._smoothPathImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ undockRobot()

Optional[RunningTask] nav2_simple_commander.robot_navigator.BasicNavigator.undockRobot (   self,
str   dock_type = '' 
) 
Send a `UndockRobot` action request.

Definition at line 511 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), and nav2_simple_commander.robot_navigator.BasicNavigator.undocking_client.

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◆ waitUntilNav2Active()

None nav2_simple_commander.robot_navigator.BasicNavigator.waitUntilNav2Active (   self,
str   navigator = 'bt_navigator',
str   localizer = 'amcl' 
) 
Block until the full navigation system is up and running.

Definition at line 631 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._waitForInitialPose(), nav2_simple_commander.robot_navigator.BasicNavigator._waitForNodeToActivate(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_path_to_pose_client, nav2_constrained_smoother::OptimizerParams.debug, loopback_simulator.LoopbackSimulator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, loopback_simulator.LoopbackSimulator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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