Simple plugin based on WaypointTaskExecutor, let's robot to wait for a user input at waypoint arrival. More...

Inheritance diagram for nav2_waypoint_follower::InputAtWaypoint:

Collaboration diagram for nav2_waypoint_follower::InputAtWaypoint:

Public Member Functions
	InputAtWaypoint ()
	Construct a new Input At Waypoint Arrival object.

	~InputAtWaypoint ()
	Destroy the Input At Waypoint Arrival object.

void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name)
	declares and loads parameters used More...

bool	processAtWaypoint (const geometry_msgs::msg::PoseStamped &curr_pose, const int &curr_waypoint_index)
	Processor. More...

Public Member Functions inherited from nav2_core::WaypointTaskExecutor
	WaypointTaskExecutor ()
	Construct a new Simple Task Execution At Waypoint Base object.

virtual	~WaypointTaskExecutor ()
	Destroy the Simple Task Execution At Waypoint Base object.

Protected Member Functions
void	Cb (const std_msgs::msg::Empty::SharedPtr msg)
	Processor callback. More...

Protected Attributes
bool	input_received_

bool	is_enabled_

rclcpp::Duration	timeout_

rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_waypoint_follower")}

rclcpp::Clock::SharedPtr	clock_

std::mutex	mutex_

rclcpp::Subscription< std_msgs::msg::Empty >::SharedPtr	subscription_

Detailed Description

Simple plugin based on WaypointTaskExecutor, let's robot to wait for a user input at waypoint arrival.

Definition at line 34 of file input_at_waypoint.hpp.

Member Function Documentation

void nav2_waypoint_follower::InputAtWaypoint::Cb ( const std_msgs::msg::Empty::SharedPtr msg )

protected

Processor callback.

Parameters

msg	Empty message

Definition at line 75 of file input_at_waypoint.cpp.

Referenced by initialize().

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void nav2_waypoint_follower::InputAtWaypoint::initialize	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	parent,
		const std::string &	plugin_name
	)

virtual

declares and loads parameters used

Parameters

parent	parent node
plugin_name	name of plugin

Definition at line 39 of file input_at_waypoint.cpp.

References Cb().

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bool nav2_waypoint_follower::InputAtWaypoint::processAtWaypoint	(	const geometry_msgs::msg::PoseStamped &	curr_pose,
		const int &	curr_waypoint_index
	)

virtual

Processor.

Parameters

curr_pose	current pose of the robot
curr_waypoint_index	current waypoint, that robot just arrived

Definition at line 81 of file input_at_waypoint.cpp.

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

nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/input_at_waypoint.hpp
nav2_waypoint_follower/plugins/input_at_waypoint.cpp