This plugin is used to check the position and the angle of the robot to make sure that it is actually progressing or rotating towards a goal. More...

#include <nav2_controller/include/nav2_controller/plugins/pose_progress_checker.hpp>

Inheritance diagram for nav2_controller::PoseProgressChecker:

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Collaboration diagram for nav2_controller::PoseProgressChecker:

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Public Member Functions
	PoseProgressChecker ()=default
	Construct a new Pose Progress Checker object.

	~PoseProgressChecker ()
	Destroy the Pose Progress Checker object.

void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const std::string &plugin_name) override
	Initialize the goal checker. More...

bool	check (geometry_msgs::msg::PoseStamped &current_pose) override
	Checks if the robot has moved compare to previous. More...

Public Member Functions inherited from nav2_controller::SimpleProgressChecker
	SimpleProgressChecker ()=default
	Construct a new Simple Progress Checker object.

	~SimpleProgressChecker ()
	Destroy the Simple Progress Checker object.

void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const std::string &plugin_name) override
	Initialize the goal checker. More...

bool	check (geometry_msgs::msg::PoseStamped &current_pose) override
	Checks if the robot has moved compare to previous. More...

void	reset () override
	Reset the progress checker state.

Protected Member Functions
bool	isRobotMovedEnough (const geometry_msgs::msg::Pose &pose)
	Calculates robots movement from baseline pose. More...

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

Protected Member Functions inherited from nav2_controller::SimpleProgressChecker
bool	isRobotMovedEnough (const geometry_msgs::msg::Pose &pose)
	Calculates robots movement from baseline pose. More...

void	resetBaselinePose (const geometry_msgs::msg::Pose &pose)
	Resets baseline pose with the current pose of the robot. More...

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

Static Protected Member Functions
static double	poseAngleDistance (const geometry_msgs::msg::Pose &, const geometry_msgs::msg::Pose &)
	Calculates angle difference between two poses. More...

Static Protected Member Functions inherited from nav2_controller::SimpleProgressChecker
static double	pose_distance (const geometry_msgs::msg::Pose &, const geometry_msgs::msg::Pose &)
	Calculates distance between two poses. More...

Protected Attributes
double	required_movement_angle_

std::mutex	mutex_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

std::string	plugin_name_

nav2::LifecycleNode::WeakPtr	node_

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

Protected Attributes inherited from nav2_controller::SimpleProgressChecker
nav2::LifecycleNode::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

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

double	radius_

rclcpp::Duration	time_allowance_ {0, 0}

geometry_msgs::msg::Pose	baseline_pose_

rclcpp::Time	baseline_time_

bool	baseline_pose_set_ {false}

std::mutex	mutex_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

std::string	plugin_name_

Additional Inherited Members
Public Types inherited from nav2_core::ProgressChecker
typedef std::shared_ptr< nav2_core::ProgressChecker >	Ptr

Detailed Description

This plugin is used to check the position and the angle of the robot to make sure that it is actually progressing or rotating towards a goal.

Definition at line 32 of file pose_progress_checker.hpp.

Member Function Documentation

◆ check()

bool nav2_controller::PoseProgressChecker::check ( geometry_msgs::msg::PoseStamped & current_pose )

overridevirtual

Checks if the robot has moved compare to previous.

Parameters

current_pose Current pose of the robot

Returns: true, if the robot has moved enough, false otherwise

Implements nav2_core::ProgressChecker.

Definition at line 71 of file pose_progress_checker.cpp.

References isRobotMovedEnough(), and nav2_controller::SimpleProgressChecker::resetBaselinePose().

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◆ initialize()

void nav2_controller::PoseProgressChecker::initialize	(	const nav2::LifecycleNode::WeakPtr &	parent,
		const std::string &	plugin_name
	)

overridevirtual

Initialize the goal checker.

Parameters

parent	Weak pointer to the lifecycle node
plugin_name	Name of the plugin

Implements nav2_core::ProgressChecker.

Definition at line 47 of file pose_progress_checker.cpp.

References nav2_controller::SimpleProgressChecker::initialize(), updateParametersCallback(), and validateParameterUpdatesCallback().

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◆ isRobotMovedEnough()

bool nav2_controller::PoseProgressChecker::isRobotMovedEnough ( const geometry_msgs::msg::Pose & pose )

protected

Calculates robots movement from baseline pose.

Parameters

pose	Current pose of the robot

Returns: true, if movement is greater than radius_, or false

Definition at line 83 of file pose_progress_checker.cpp.

References nav2_controller::SimpleProgressChecker::pose_distance(), and poseAngleDistance().

Referenced by check().

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◆ poseAngleDistance()

double nav2_controller::PoseProgressChecker::poseAngleDistance	(	const geometry_msgs::msg::Pose &	pose1,
		const geometry_msgs::msg::Pose &	pose2
	)

staticprotected

Calculates angle difference between two poses.

Parameters

pose1	First pose
pose2	Second pose

Returns: Angle difference in radians

Definition at line 89 of file pose_progress_checker.cpp.

Referenced by isRobotMovedEnough().

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◆ updateParametersCallback()

void nav2_controller::PoseProgressChecker::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters List of parameters that have been updated.

Definition at line 124 of file pose_progress_checker.cpp.

Referenced by initialize().

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◆ validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::PoseProgressChecker::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters List of parameters that are being updated.

Returns: rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 99 of file pose_progress_checker.cpp.

Referenced by initialize().

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

nav2_controller/include/nav2_controller/plugins/pose_progress_checker.hpp
nav2_controller/plugins/pose_progress_checker.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ check()

◆ initialize()

◆ isRobotMovedEnough()

◆ poseAngleDistance()

◆ updateParametersCallback()

◆ validateParameterUpdatesCallback()