nav2_controller::SimpleProgressChecker Class Reference

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

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

Inheritance diagram for nav2_controller::SimpleProgressChecker:

Collaboration diagram for nav2_controller::SimpleProgressChecker:

Public Member Functions
	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...
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	pose_distance (const geometry_msgs::msg::Pose &, const geometry_msgs::msg::Pose &)
	Calculates distance between two poses. More...

Protected Attributes
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 of the robot to make sure that it is actually progressing towards a goal.

Definition at line 34 of file simple_progress_checker.hpp.

Member Function Documentation

check()

bool nav2_controller::SimpleProgressChecker::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 70 of file simple_progress_checker.cpp.

References isRobotMovedEnough(), and resetBaselinePose().

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initialize()

void nav2_controller::SimpleProgressChecker::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 43 of file simple_progress_checker.cpp.

References updateParametersCallback(), and validateParameterUpdatesCallback().

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

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isRobotMovedEnough()

bool nav2_controller::SimpleProgressChecker::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 94 of file simple_progress_checker.cpp.

References pose_distance().

Referenced by check().

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pose_distance()

double nav2_controller::SimpleProgressChecker::pose_distance ( const geometry_msgs::msg::Pose &  pose1, const geometry_msgs::msg::Pose &  pose2  )

staticprotected

Calculates distance between two poses.

Parameters

pose1	First pose
pose2	Second pose

Returns

Distance between the two poses

Definition at line 99 of file simple_progress_checker.cpp.

Referenced by nav2_controller::PoseProgressChecker::isRobotMovedEnough(), and isRobotMovedEnough().

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resetBaselinePose()

void nav2_controller::SimpleProgressChecker::resetBaselinePose ( const geometry_msgs::msg::Pose &  pose )

protected

Resets baseline pose with the current pose of the robot.

Parameters

pose	Current pose of the robot

Definition at line 87 of file simple_progress_checker.cpp.

Referenced by nav2_controller::PoseProgressChecker::check(), and check().

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updateParametersCallback()

void nav2_controller::SimpleProgressChecker::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 135 of file simple_progress_checker.cpp.

Referenced by initialize().

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validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::SimpleProgressChecker::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 110 of file simple_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/simple_progress_checker.hpp
• nav2_controller/plugins/simple_progress_checker.cpp