An action server that uses behavior tree for navigating a robot to its goal position. More...

#include <nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp>

Inheritance diagram for nav2_waypoint_follower::WaypointFollower:

Collaboration diagram for nav2_waypoint_follower::WaypointFollower:

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Public Types
using	ActionT = nav2_msgs::action::FollowWaypoints

using	ClientT = nav2_msgs::action::NavigateToPose

using	ActionServer = nav2_util::SimpleActionServer< ActionT >

using	ActionClient = rclcpp_action::Client< ClientT >

using	ActionTGPS = nav2_msgs::action::FollowGPSWaypoints

using	ActionServerGPS = nav2_util::SimpleActionServer< ActionTGPS >

Public Member Functions
	WaypointFollower (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_waypoint_follower::WaypointFollower class. More...

	~WaypointFollower ()
	A destructor for nav2_waypoint_follower::WaypointFollower class.

Public Member Functions inherited from nav2_util::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns="", const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has no integer or floating point range constraints. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const floating_point_range fp_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has a floating point range constraint. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const integer_range int_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has an integer range constraint. More...

std::shared_ptr< nav2_util::LifecycleNode >	shared_from_this ()
	Get a shared pointer of this.

nav2_util::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Member Functions
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configures member variables. More...

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activates action server. More...

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivates action server. More...

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Resets member variables. More...

nav2_util::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in shutdown state. More...

template<typename T , typename V , typename Z >
void	followWaypointsHandler (const T &action_server, const V &feedback, const Z &result)
	Templated function to perform internal logic behind waypoint following, Both GPS and non GPS waypoint following callbacks makes use of this function when a client asked to do so. Callbacks fills in appropriate types for the templated types, see followWaypointCallback functions for details. More...

void	followWaypointsCallback ()
	Action server callbacks.

void	followGPSWaypointsCallback ()
	send robot through each of GPS point , which are converted to map frame first then using a client to `FollowWaypoints` action. More...

void	resultCallback (const rclcpp_action::ClientGoalHandle< ClientT >::WrappedResult &result)
	Action client result callback. More...

void	goalResponseCallback (const rclcpp_action::ClientGoalHandle< ClientT >::SharedPtr &goal)
	Action client goal response callback. More...

std::vector< geometry_msgs::msg::PoseStamped >	convertGPSPosesToMapPoses (const std::vector< geographic_msgs::msg::GeoPose > &gps_poses)
	given some gps_poses, converts them to map frame using robot_localization's service `fromLL`. Constructs a vector of stamped poses in map frame and returns them. More...

template<typename T >
std::vector< geometry_msgs::msg::PoseStamped >	getLatestGoalPoses (const T &action_server)
	get the latest poses on the action server goal. If they are GPS poses, convert them to the global cartesian frame using /fromLL robot localization server More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Member Functions inherited from nav2_util::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::vector< int >	failed_ids_

std::string	global_frame_id_ {"map"}

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

std::unique_ptr< ActionServer >	xyz_action_server_

ActionClient::SharedPtr	nav_to_pose_client_

rclcpp::CallbackGroup::SharedPtr	callback_group_

rclcpp::executors::SingleThreadedExecutor	callback_group_executor_

std::shared_future< rclcpp_action::ClientGoalHandle< ClientT >::SharedPtr >	future_goal_handle_

std::unique_ptr< ActionServerGPS >	gps_action_server_

std::unique_ptr< nav2_util::ServiceClient< robot_localization::srv::FromLL, std::shared_ptr< nav2_util::LifecycleNode > > >	from_ll_to_map_client_

bool	stop_on_failure_

int	loop_rate_

GoalStatus	current_goal_status_

pluginlib::ClassLoader< nav2_core::WaypointTaskExecutor >	waypoint_task_executor_loader_

pluginlib::UniquePtr< nav2_core::WaypointTaskExecutor >	waypoint_task_executor_

std::string	waypoint_task_executor_id_

std::string	waypoint_task_executor_type_

Protected Attributes inherited from nav2_util::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::shared_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

An action server that uses behavior tree for navigating a robot to its goal position.

Definition at line 67 of file waypoint_follower.hpp.

Constructor & Destructor Documentation

◆ WaypointFollower()

nav2_waypoint_follower::WaypointFollower::WaypointFollower ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_waypoint_follower::WaypointFollower class.

Parameters

options Additional options to control creation of the node.

Definition at line 30 of file waypoint_follower.cpp.

Member Function Documentation

◆ convertGPSPosesToMapPoses()

std::vector< geometry_msgs::msg::PoseStamped > nav2_waypoint_follower::WaypointFollower::convertGPSPosesToMapPoses ( const std::vector< geographic_msgs::msg::GeoPose > & gps_poses )

protected

given some gps_poses, converts them to map frame using robot_localization's service fromLL. Constructs a vector of stamped poses in map frame and returns them.

Parameters

gps_poses,from the action server

Returns: std::vector<geometry_msgs::msg::PoseStamped>

Definition at line 493 of file waypoint_follower.cpp.

Referenced by getLatestGoalPoses().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_waypoint_follower::WaypointFollower::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 465 of file waypoint_follower.cpp.

Referenced by on_activate().

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◆ followGPSWaypointsCallback()

void nav2_waypoint_follower::WaypointFollower::followGPSWaypointsCallback ( )

protected

send robot through each of GPS point , which are converted to map frame first then using a client to FollowWaypoints action.

Parameters

waypoints,acquired from action client

Definition at line 406 of file waypoint_follower.cpp.

Referenced by on_configure().

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◆ followWaypointsHandler()

template<typename T , typename V , typename Z >

void nav2_waypoint_follower::WaypointFollower::followWaypointsHandler	(	const T &	action_server,
		const V &	feedback,
		const Z &	result
	)

protected

Templated function to perform internal logic behind waypoint following, Both GPS and non GPS waypoint following callbacks makes use of this function when a client asked to do so. Callbacks fills in appropriate types for the templated types, see followWaypointCallback functions for details.

Template Parameters

T	action_server
V	feedback
Z	result

Parameters

action_server
poses
feedback
result

Definition at line 206 of file waypoint_follower.cpp.

References goalResponseCallback(), and resultCallback().

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◆ getLatestGoalPoses()

template<typename T >

std::vector< geometry_msgs::msg::PoseStamped > nav2_waypoint_follower::WaypointFollower::getLatestGoalPoses ( const T & action_server )

protected

get the latest poses on the action server goal. If they are GPS poses, convert them to the global cartesian frame using /fromLL robot localization server

Parameters

action_server,to which the goal was sent

Returns: std::vector<geometry_msgs::msg::PoseStamped>

Definition at line 182 of file waypoint_follower.cpp.

References convertGPSPosesToMapPoses().

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◆ goalResponseCallback()

void nav2_waypoint_follower::WaypointFollower::goalResponseCallback ( const rclcpp_action::ClientGoalHandle< ClientT >::SharedPtr & goal )

protected

Action client goal response callback.

Parameters

goal	Response of action server updated asynchronously

Definition at line 452 of file waypoint_follower.cpp.

Referenced by followWaypointsHandler().

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◆ on_activate()

nav2_util::CallbackReturn nav2_waypoint_follower::WaypointFollower::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activates action server.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 128 of file waypoint_follower.cpp.

References nav2_util::LifecycleNode::createBond(), dynamicParametersCallback(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_cleanup()

nav2_util::CallbackReturn nav2_waypoint_follower::WaypointFollower::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Resets member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 162 of file waypoint_follower.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2_util::CallbackReturn nav2_waypoint_follower::WaypointFollower::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configures member variables.

Initializes action server for "follow_waypoints"

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 55 of file waypoint_follower.cpp.

References followGPSWaypointsCallback(), followWaypointsCallback(), on_cleanup(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2_util::CallbackReturn nav2_waypoint_follower::WaypointFollower::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivates action server.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 147 of file waypoint_follower.cpp.

References nav2_util::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2_util::CallbackReturn nav2_waypoint_follower::WaypointFollower::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in shutdown state.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 175 of file waypoint_follower.cpp.

◆ resultCallback()

void nav2_waypoint_follower::WaypointFollower::resultCallback ( const rclcpp_action::ClientGoalHandle< ClientT >::WrappedResult & result )

protected

Action client result callback.

Parameters

result Result of action server updated asynchronously

Definition at line 419 of file waypoint_follower.cpp.

Referenced by followWaypointsHandler().

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

nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
nav2_waypoint_follower/src/waypoint_follower.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WaypointFollower()

Member Function Documentation

◆ convertGPSPosesToMapPoses()

◆ dynamicParametersCallback()

◆ followGPSWaypointsCallback()

◆ followWaypointsHandler()

◆ getLatestGoalPoses()

◆ goalResponseCallback()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ resultCallback()