nav2_mppi_controller::MPPIController Class Reference

Inheritance diagram for nav2_mppi_controller::MPPIController:

Collaboration diagram for nav2_mppi_controller::MPPIController:

Public Member Functions
	MPPIController ()=default
	Constructor for mppi::MPPIController.
void	configure (const nav2::LifecycleNode::WeakPtr &parent, std::string name, const nav2::TransformBuffer::SharedPtr tf, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Configure controller on bringup. More...
void	cleanup () override
	Cleanup resources.
void	activate () override
	Activate controller.
void	deactivate () override
	Deactivate controller.
void	reset () override
	Reset the controller state between tasks.
geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &robot_pose, const geometry_msgs::msg::Twist &robot_speed, nav2_core::GoalChecker *goal_checker, const nav_msgs::msg::Path &transformed_global_plan, const geometry_msgs::msg::PoseStamped &global_goal) override
	Main method to compute velocities using the optimizer. More...
void	newPathReceived (const nav_msgs::msg::Path &raw_global_path) override
	Receives a new plan from the Planner Server. More...
void	setSpeedLimit (const double &speed_limit, const bool &percentage) override
	Set new speed limit from callback. More...
Public Member Functions inherited from nav2_core::Controller
virtual	~Controller ()
	Virtual destructor.
virtual bool	cancel ()
	Cancel the current control action. More...

Protected Member Functions
void	visualize (const builtin_interfaces::msg::Time &cmd_stamp, const Eigen::ArrayXXf &optimal_trajectory)
	Visualize trajectories. More...

Protected Attributes
std::string	name_
nav2::LifecycleNode::WeakPtr	parent_
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
nav2::TransformBuffer::SharedPtr	tf_buffer_
nav2::Publisher< nav_msgs::msg::Trajectory >::SharedPtr	opt_traj_pub_
std::unique_ptr< ParametersHandler >	parameters_handler_
Optimizer	optimizer_
TrajectoryVisualizer	trajectory_visualizer_
bool	visualize_
int	critic_index_to_visualize_
bool	publish_optimal_trajectory_

Additional Inherited Members
Public Types inherited from nav2_core::Controller
using	Ptr = std::shared_ptr< nav2_core::Controller >

Detailed Description

Definition at line 39 of file controller.hpp.

Member Function Documentation

computeVelocityCommands()

geometry_msgs::msg::TwistStamped nav2_mppi_controller::MPPIController::computeVelocityCommands ( const geometry_msgs::msg::PoseStamped &  robot_pose, const geometry_msgs::msg::Twist &  robot_speed, nav2_core::GoalChecker *  goal_checker, const nav_msgs::msg::Path &  transformed_global_plan, const geometry_msgs::msg::PoseStamped &  global_goal  )

overridevirtual

Main method to compute velocities using the optimizer.

Parameters

robot_pose	Robot pose
robot_speed	Robot speed
goal_checker	Pointer to the goal checker for awareness if completed task
transformed_global_plan	The global plan after being processed by the path handler
global_goal	The last pose of the global plan

Implements nav2_core::Controller.

Definition at line 93 of file controller.cpp.

References mppi::Optimizer::evalControl(), mppi::Optimizer::getOptimalControlSequence(), mppi::Optimizer::getSettings(), and visualize().

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configure()

void nav2_mppi_controller::MPPIController::configure ( const nav2::LifecycleNode::WeakPtr &  parent, std::string  name, const nav2::TransformBuffer::SharedPtr  tf, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros  )

overridevirtual

Configure controller on bringup.

Parameters

parent	WeakPtr to node
name	Name of plugin
tf	TF buffer to use
costmap_ros	Costmap2DROS object of environment

Implements nav2_core::Controller.

Definition at line 26 of file controller.cpp.

References mppi::Optimizer::initialize(), and mppi::TrajectoryVisualizer::on_configure().

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newPathReceived()

void nav2_mppi_controller::MPPIController::newPathReceived ( const nav_msgs::msg::Path &  raw_global_path )

overridevirtual

Receives a new plan from the Planner Server.

Parameters

raw_global_path

The global plan from the Planner Server

Implements nav2_core::Controller.

Definition at line 160 of file controller.cpp.

setSpeedLimit()

void nav2_mppi_controller::MPPIController::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

overridevirtual

Set new speed limit from callback.

Parameters

speed_limit	Speed limit to use
percentage	Bool if the speed limit is absolute or relative

Implements nav2_core::Controller.

Definition at line 164 of file controller.cpp.

References mppi::Optimizer::setSpeedLimit().

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visualize()

void nav2_mppi_controller::MPPIController::visualize ( const builtin_interfaces::msg::Time &  cmd_stamp, const Eigen::ArrayXXf &  optimal_trajectory  )

protected

Visualize trajectories.

Parameters

cmd_stamp	Command stamp
optimal_trajectory	Optimal trajectory, if already computed

Definition at line 139 of file controller.cpp.

References mppi::TrajectoryVisualizer::add(), mppi::Optimizer::getCollisionFlags(), mppi::Optimizer::getCosts(), mppi::Optimizer::getCriticCosts(), mppi::Optimizer::getGeneratedTrajectories(), and mppi::TrajectoryVisualizer::visualize().

Referenced by computeVelocityCommands().

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

• nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp
• nav2_mppi_controller/src/controller.cpp