Goal Checker plugin that only checks the position difference. More...

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

Inheritance diagram for nav2_controller::SimpleGoalChecker:

Collaboration diagram for nav2_controller::SimpleGoalChecker:

Public Member Functions
	SimpleGoalChecker ()
	Construct a new Simple Goal Checker object.

	~SimpleGoalChecker ()
	Destroy the Simple Goal Checker object.

void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Initialize the goal checker. More...

void	reset () override
	Reset the goal checker state.

bool	isGoalReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity, const nav_msgs::msg::Path &transformed_global_plan) override
	Check if the goal is reached. More...

bool	getTolerances (geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance, double &path_length_tolerance) override
	Get the position and velocity tolerances. More...

bool	isGoalXYReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity, const nav_msgs::msg::Path &transformed_global_plan) override
	Check if XY goal position has been reached (without considering yaw) More...

Protected Member Functions
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 Attributes
nav2::LifecycleNode::WeakPtr	node_

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

double	xy_goal_tolerance_

double	xy_goal_tolerance_buffer_

double	yaw_goal_tolerance_

double	path_length_tolerance_

bool	stateful_

bool	check_xy_

bool	symmetric_yaw_tolerance_

double	xy_goal_tolerance_sq_

double	xy_goal_tolerance_reset_sq_

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::GoalChecker
typedef std::shared_ptr< nav2_core::GoalChecker >	Ptr

Detailed Description

Goal Checker plugin that only checks the position difference.

This class can be stateful if the stateful parameter is set to true (which it is by default). This means that the goal checker will not check if the xy position matches again once it is found to be true.

Definition at line 57 of file simple_goal_checker.hpp.

Member Function Documentation

◆ getTolerances()

bool nav2_controller::SimpleGoalChecker::getTolerances	(	geometry_msgs::msg::Pose &	pose_tolerance,
		geometry_msgs::msg::Twist &	vel_tolerance,
		double &	path_length_tolerance
	)

overridevirtual

Get the position and velocity tolerances.

Parameters

pose_tolerance	Output parameter for pose tolerance
vel_tolerance	Output parameter for velocity tolerance
path_length_tolerance	Output parameter for path length tolerance

Returns: true if tolerances are available, false otherwise

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 182 of file simple_goal_checker.cpp.

Referenced by nav2_controller::StoppedGoalChecker::getTolerances().

Here is the caller graph for this function:

◆ initialize()

void nav2_controller::SimpleGoalChecker::initialize	(	const nav2::LifecycleNode::WeakPtr &	parent,
		const std::string &	plugin_name,
		const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros
	)

overridevirtual

Initialize the goal checker.

Parameters

parent	Weak pointer to the lifecycle node
plugin_name	Name of the plugin
costmap_ros	Shared pointer to the costmap

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 78 of file simple_goal_checker.cpp.

References updateParametersCallback(), and validateParameterUpdatesCallback().

Referenced by nav2_controller::StoppedGoalChecker::initialize().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ isGoalReached()

bool nav2_controller::SimpleGoalChecker::isGoalReached	(	const geometry_msgs::msg::Pose &	query_pose,
		const geometry_msgs::msg::Pose &	goal_pose,
		const geometry_msgs::msg::Twist &	velocity,
		const nav_msgs::msg::Path &	transformed_global_plan
	)

overridevirtual

Check if the goal is reached.

Parameters

query_pose	Current pose of the robot
goal_pose	Target goal pose
velocity	Current velocity of the robot
transformed_global_plan	The transformed global plan

Returns: true if goal is reached, false otherwise

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 118 of file simple_goal_checker.cpp.

References isGoalXYReached().

Referenced by nav2_controller::StoppedGoalChecker::isGoalReached().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ isGoalXYReached()

bool nav2_controller::SimpleGoalChecker::isGoalXYReached	(	const geometry_msgs::msg::Pose &	query_pose,
		const geometry_msgs::msg::Pose &	goal_pose,
		const geometry_msgs::msg::Twist &	velocity,
		const nav_msgs::msg::Path &	transformed_global_plan
	)

overridevirtual

Check if XY goal position has been reached (without considering yaw)

Parameters

query_pose	The pose to check
goal_pose	The pose to check against
velocity	The robot's current velocity
transformed_global_plan	The global plan after being processed by the path handler

Returns: True if XY goal is reached (position within tolerance, yaw ignored)

Implements nav2_core::GoalChecker.

Reimplemented in nav2_controller::StoppedGoalChecker.

Definition at line 146 of file simple_goal_checker.cpp.

Referenced by isGoalReached(), and nav2_controller::StoppedGoalChecker::isGoalXYReached().

Here is the caller graph for this function:

◆ updateParametersCallback()

void nav2_controller::SimpleGoalChecker::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 235 of file simple_goal_checker.cpp.

Referenced by initialize().

Here is the caller graph for this function:

◆ validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::SimpleGoalChecker::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 210 of file simple_goal_checker.cpp.

Referenced by initialize().

Here is the caller graph for this function:

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

nav2_controller/include/nav2_controller/plugins/simple_goal_checker.hpp
nav2_controller/plugins/simple_goal_checker.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getTolerances()

◆ initialize()

◆ isGoalReached()

◆ isGoalXYReached()

◆ updateParametersCallback()

◆ validateParameterUpdatesCallback()