nav2_waypoint_follower::WaitAtWaypoint Class Reference

Simple plugin based on WaypointTaskExecutor, let's robot to sleep for a specified amount of time at waypoint arrival. You can reference this class to define your own task and rewrite the body for it. More...

#include <nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/wait_at_waypoint.hpp>

Inheritance diagram for nav2_waypoint_follower::WaitAtWaypoint:

Collaboration diagram for nav2_waypoint_follower::WaitAtWaypoint:

Public Member Functions
	WaitAtWaypoint ()
	Construct a new Wait At Waypoint Arrival object.
	~WaitAtWaypoint ()
	Destroy the Wait At Waypoint Arrival object.
void	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name)
	declares and loads parameters used (waypoint_pause_duration_) More...
bool	processAtWaypoint (const geometry_msgs::msg::PoseStamped &curr_pose, const int &curr_waypoint_index)
	Override this to define the body of your task that you would like to execute once the robot arrived to waypoint. 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 Attributes
int	waypoint_pause_duration_
bool	is_enabled_
rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_waypoint_follower")}
rclcpp::Clock::SharedPtr	clock_

Detailed Description

Simple plugin based on WaypointTaskExecutor, let's robot to sleep for a specified amount of time at waypoint arrival. You can reference this class to define your own task and rewrite the body for it.

Definition at line 34 of file wait_at_waypoint.hpp.

Member Function Documentation

initialize()

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

virtual

declares and loads parameters used (waypoint_pause_duration_)

Parameters

parent	parent node that plugin will be created within (waypoint_follower in this case)
plugin_name

Implements nav2_core::WaypointTaskExecutor.

Definition at line 36 of file wait_at_waypoint.cpp.

processAtWaypoint()

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

virtual

Override this to define the body of your task that you would like to execute once the robot arrived to waypoint.

Parameters

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

Returns

true if task execution was successful

false if task execution failed

Implements nav2_core::WaypointTaskExecutor.

Definition at line 71 of file wait_at_waypoint.cpp.

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

• nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/wait_at_waypoint.hpp
• nav2_waypoint_follower/plugins/wait_at_waypoint.cpp