nav2_core::PathHandler Class Reference

Function-object for handling the path from Planner Server. More...

#include <nav2_core/include/nav2_core/path_handler.hpp>

Inheritance diagram for nav2_core::PathHandler:

Public Types
typedef std::shared_ptr< nav2_core::PathHandler >	Ptr

Public Member Functions
virtual void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const rclcpp::Logger &logger, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros, nav2::TransformBuffer::SharedPtr tf)=0
	Initialize parameters. More...
virtual void	setPlan (const nav_msgs::msg::Path &path)=0
	Set new reference plan. More...
virtual PathSegment	findPlanSegment (const geometry_msgs::msg::PoseStamped &pose)=0
	Determines the portion of the global plan to be used for local control. This function locates the start and end iterators of the global plan segment that is relevant for controller computation based on the robot's current pose and local costmap. More...
virtual nav_msgs::msg::Path	transformLocalPlan (const PathIterator &closest_point, const PathIterator &pruned_plan_end)=0
	Transforms a predefined segment of the global plan into the costmap global frame. More...
virtual geometry_msgs::msg::PoseStamped	getTransformedGoal (const builtin_interfaces::msg::Time &stamp)=0
	Get the global goal pose transformed to the costmap global frame. More...

Detailed Description

Function-object for handling the path from Planner Server.

This class defines the plugin interface used by the Controller Server to manage the path received from the Planner Server. Its primary responsibilities are pruning path segments the robot has already traversed and transforming the remaining, relevant portion of the path into the costmap's global or base frame.

Definition at line 43 of file path_handler.hpp.

Member Function Documentation

findPlanSegment()

virtual PathSegment nav2_core::PathHandler::findPlanSegment ( const geometry_msgs::msg::PoseStamped &  pose )

pure virtual

Determines the portion of the global plan to be used for local control. This function locates the start and end iterators of the global plan segment that is relevant for controller computation based on the robot's current pose and local costmap.

Parameters

pose	Robot pose in odom frame

Returns

PathSegment A pair of iterators defining the start and end of the selected plan segment.

Implemented in nav2_controller::FeasiblePathHandler.

getTransformedGoal()

virtual geometry_msgs::msg::PoseStamped nav2_core::PathHandler::getTransformedGoal ( const builtin_interfaces::msg::Time &  stamp )

pure virtual

Get the global goal pose transformed to the costmap global frame.

Parameters

stamp

Time to get the goal pose at

Returns

Transformed goal pose

Implemented in nav2_controller::FeasiblePathHandler.

initialize()

virtual void nav2_core::PathHandler::initialize ( const nav2::LifecycleNode::WeakPtr &  parent, const rclcpp::Logger &  logger, const std::string &  plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros, nav2::TransformBuffer::SharedPtr  tf  )

pure virtual

Initialize parameters.

Parameters

parent	Lifecycle node pointer
logger	Node logging interface
plugin_name	Name of the plugin
costmap_ros	Costmap2DROS object
tf	Shared ptr of TF2 buffer

Implemented in nav2_controller::FeasiblePathHandler.

setPlan()

virtual void nav2_core::PathHandler::setPlan ( const nav_msgs::msg::Path &  path )

pure virtual

Set new reference plan.

Parameters

Path	Path to use

Implemented in nav2_controller::FeasiblePathHandler.

transformLocalPlan()

virtual nav_msgs::msg::Path nav2_core::PathHandler::transformLocalPlan ( const PathIterator &  closest_point, const PathIterator &  pruned_plan_end  )

pure virtual

Transforms a predefined segment of the global plan into the costmap global frame.

Parameters

closest_point	Iterator to the starting pose of the path segment.
pruned_plan_end	Iterator to the ending pose of the path segment.

Returns

nav_msgs::msg::Path The transformed local plan segment in the costmap global frame.

Implemented in nav2_controller::FeasiblePathHandler.

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

• nav2_core/include/nav2_core/path_handler.hpp