Nav2 Navigation Stack - lyrical  lyrical
ROS 2 Navigation Stack
Public Member Functions | Public Attributes | List of all members
nav2_simple_commander.robot_navigator.BasicNavigator Class Reference
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Public Member Functions

def __init__ (self, str node_name='basic_navigator', str namespace='')
 
def destroyNode (self)
 
def destroy_node (self)
 
def setInitialPose (self, PoseStamped initial_pose)
 
def goThroughPoses (self, Goals poses, str behavior_tree='')
 
def goToPose (self, PoseStamped pose, str behavior_tree='')
 
def followWaypoints (self, list[PoseStamped] poses)
 
def followGpsWaypoints (self, list[GeoPose] gps_poses)
 
def spin (self, float spin_dist=1.57, int time_allowance=10, bool disable_collision_checks=False)
 
def backup (self, float backup_dist=0.15, float backup_speed=0.025, int time_allowance=10, bool disable_collision_checks=False)
 
def driveOnHeading (self, float dist=0.15, float speed=0.025, int time_allowance=10, bool disable_collision_checks=False)
 
def assistedTeleop (self, int time_allowance=30)
 
def followPath (self, Path path, str controller_id='', str goal_checker_id='', str progress_checker_id='', str path_handler_id='')
 
def dockRobotByPose (self, PoseStamped dock_pose, str dock_type='', bool nav_to_dock=True)
 
def dockRobotByID (self, str dock_id, bool nav_to_dock=True)
 
def undockRobot (self, str dock_type='')
 
def followObjectByTopic (self, str topic, int max_duration=0)
 
def followObjectByFrame (self, str frame, int max_duration=0)
 
def cancelTask (self)
 
def isTaskComplete (self, RunningTask task=RunningTask.NONE)
 
def getFeedback (self, RunningTask task=RunningTask.NONE)
 
def getResult (self)
 
def clearPreviousState (self)
 
def setTaskError (self, int error_code, str error_msg)
 
def getTaskError (self)
 
def waitUntilNav2Active (self, str navigator='bt_navigator', str localizer='amcl')
 
def getPath (self, PoseStamped start, PoseStamped goal, str planner_id='', bool use_start=False)
 
def getPathThroughPoses (self, PoseStamped start, list[PoseStamped] goals, str planner_id='', bool use_start=False)
 
def getRoute (self, Union[int, PoseStamped] start, Union[int, PoseStamped] goal, bool use_start=False)
 
def getAndTrackRoute (self, Union[int, PoseStamped] start, Union[int, PoseStamped] goal, bool use_start=False)
 
def smoothPath (self, Path path, str smoother_id='', float max_duration=2.0, bool check_for_collision=False)
 
def changeMap (self, str map_filepath)
 
def clearAllCostmaps (self)
 
def clearLocalCostmap (self)
 
def clearGlobalCostmap (self)
 
def clearCostmapExceptRegion (self, float reset_distance)
 
def clearCostmapAroundRobot (self, float reset_distance)
 
def clearLocalCostmapAroundPose (self, PoseStamped pose, float reset_distance)
 
def clearGlobalCostmapAroundPose (self, PoseStamped pose, float reset_distance)
 
def getGlobalCostmap (self)
 
def getLocalCostmap (self)
 
def toggleCollisionMonitor (self, bool enable)
 
def lifecycleStartup (self)
 
def lifecycleShutdown (self)
 
def info (self, str msg)
 
def warn (self, str msg)
 
def error (self, str msg)
 
def debug (self, str msg)
 

Public Attributes

 initial_pose
 
 goal_handle
 
 result_future
 
 feedback
 
 status
 
 route_goal_handle
 
 route_result_future
 
 route_feedback
 
 last_action_error_code
 
 last_action_error_msg
 
 initial_pose_received
 
 nav_through_poses_client
 
 nav_to_pose_client
 
 follow_waypoints_client
 
 follow_gps_waypoints_client
 
 follow_path_client
 
 compute_path_to_pose_client
 
 compute_path_through_poses_client
 
 smoother_client
 
 compute_route_client
 
 compute_and_track_route_client
 
 spin_client
 
 backup_client
 
 drive_on_heading_client
 
 assisted_teleop_client
 
 docking_client
 
 undocking_client
 
 following_client
 
 localization_pose_sub
 
 initial_pose_pub
 
 change_maps_srv
 
 clear_costmap_global_srv
 
 clear_costmap_local_srv
 
 clear_costmap_except_region_srv
 
 clear_costmap_around_robot_srv
 
 clear_local_costmap_around_pose_srv
 
 clear_global_costmap_around_pose_srv
 
 get_costmap_global_srv
 
 get_costmap_local_srv
 
 toggle_collision_monitor_srv
 

Detailed Description

Definition at line 72 of file robot_navigator.py.

Member Function Documentation

◆ cancelTask()

def nav2_simple_commander.robot_navigator.BasicNavigator.cancelTask (   self) 
Cancel pending task request of any type.

Definition at line 613 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.route_goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.route_result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ changeMap()

def nav2_simple_commander.robot_navigator.BasicNavigator.changeMap (   self,
str  map_filepath 
) 
Change the current static map in the map server.

Definition at line 1003 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.change_maps_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ clearAllCostmaps()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps (   self) 
Clear all costmaps.

Definition at line 1036 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap(), and nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap().

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◆ clearCostmapAroundRobot()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapAroundRobot (   self,
float  reset_distance 
) 
Clear the costmap around the robot.

Definition at line 1085 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_around_robot_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearCostmapExceptRegion()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearCostmapExceptRegion (   self,
float  reset_distance 
) 
Clear the costmap except for a specified region.

Definition at line 1070 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_except_region_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearGlobalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmap (   self) 
Clear global costmap.

Definition at line 1056 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_global_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ clearGlobalCostmapAroundPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearGlobalCostmapAroundPose (   self,
PoseStamped  pose,
float  reset_distance 
) 
Clear the global costmap around a given pose.

Definition at line 1116 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_global_costmap_around_pose_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ clearLocalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmap (   self) 
Clear local costmap.

Definition at line 1042 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_costmap_local_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator.clearAllCostmaps().

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◆ clearLocalCostmapAroundPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.clearLocalCostmapAroundPose (   self,
PoseStamped  pose,
float  reset_distance 
) 
Clear the costmap around a given pose.

Definition at line 1100 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.clear_local_costmap_around_pose_srv, nav2_simple_commander.robot_navigator.BasicNavigator.error(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ dockRobotByID()

def nav2_simple_commander.robot_navigator.BasicNavigator.dockRobotByID (   self,
str  dock_id,
bool   nav_to_dock = True 
) 
Send a `DockRobot` action request.

Definition at line 509 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.docking_client, nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ followGpsWaypoints()

def nav2_simple_commander.robot_navigator.BasicNavigator.followGpsWaypoints (   self,
list[GeoPose]  gps_poses 
) 
Send a `FollowGPSWaypoints` action request.

Definition at line 308 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.assisted_teleop_client, nav2_simple_commander.robot_navigator.BasicNavigator.backup_client, nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.docking_client, nav2_simple_commander.robot_navigator.BasicNavigator.drive_on_heading_client, nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_gps_waypoints_client, nav2_simple_commander.robot_navigator.BasicNavigator.follow_path_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), and nav2_simple_commander.robot_navigator.BasicNavigator.spin_client.

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◆ followObjectByFrame()

def nav2_simple_commander.robot_navigator.BasicNavigator.followObjectByFrame (   self,
str  frame,
int   max_duration = 0 
) 
Send a `FollowObject` action request.

Definition at line 587 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.following_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ followObjectByTopic()

def nav2_simple_commander.robot_navigator.BasicNavigator.followObjectByTopic (   self,
str  topic,
int   max_duration = 0 
) 
Send a `FollowObject` action request.

Definition at line 561 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.following_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ followWaypoints()

def nav2_simple_commander.robot_navigator.BasicNavigator.followWaypoints (   self,
list[PoseStamped]  poses 
) 
Send a `FollowWaypoints` action request.

Definition at line 282 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.follow_waypoints_client, nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ getAndTrackRoute()

def nav2_simple_commander.robot_navigator.BasicNavigator.getAndTrackRoute (   self,
Union[int, PoseStamped]  start,
Union[int, PoseStamped]  goal,
bool   use_start = False 
) 
Send a `ComputeAndTrackRoute` action request.

Definition at line 906 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._routeFeedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_and_track_route_client, nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.route_goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.route_result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_simple_commander.robot_navigator.BasicNavigator.smoother_client, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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◆ getFeedback()

def nav2_simple_commander.robot_navigator.BasicNavigator.getFeedback (   self,
RunningTask   task = RunningTask.NONE 
) 
Get the pending action feedback message.

Definition at line 678 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.feedback, and nav2_simple_commander.robot_navigator.BasicNavigator.route_feedback.

◆ getGlobalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.getGlobalCostmap (   self) 
Get the global costmap.

Definition at line 1132 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_global_srv, and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getLocalCostmap()

def nav2_simple_commander.robot_navigator.BasicNavigator.getLocalCostmap (   self) 
Get the local costmap.

Definition at line 1147 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.get_costmap_local_srv, and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ getPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.getPath (   self,
PoseStamped  start,
PoseStamped  goal,
str   planner_id = '',
bool   use_start = False 
) 
Send a `ComputePathToPose` action request.

Definition at line 758 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getPathImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_path_through_poses_client, nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ getPathThroughPoses()

def nav2_simple_commander.robot_navigator.BasicNavigator.getPathThroughPoses (   self,
PoseStamped  start,
list[PoseStamped]  goals,
str   planner_id = '',
bool   use_start = False 
) 
Send a `ComputePathThroughPoses` action request.

Definition at line 820 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getPathThroughPosesImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_route_client, nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ getResult()

def nav2_simple_commander.robot_navigator.BasicNavigator.getResult (   self) 
Get the pending action result message.

Definition at line 686 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.feedback, nav2_simple_commander.robot_navigator.BasicNavigator.last_action_error_code, nav2_simple_commander.robot_navigator.BasicNavigator.last_action_error_msg, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

◆ getRoute()

def nav2_simple_commander.robot_navigator.BasicNavigator.getRoute (   self,
Union[int, PoseStamped]  start,
Union[int, PoseStamped]  goal,
bool   use_start = False 
) 
Send a `ComputeRoute` action request.

Definition at line 887 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._getRouteImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ goThroughPoses()

def nav2_simple_commander.robot_navigator.BasicNavigator.goThroughPoses (   self,
Goals  poses,
str   behavior_tree = '' 
) 
Send a `NavThroughPoses` action request.

Definition at line 216 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_through_poses_client, nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ goToPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.goToPose (   self,
PoseStamped  pose,
str   behavior_tree = '' 
) 
Send a `NavToPose` action request.

Definition at line 243 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.nav_to_pose_client, nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, and nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError().

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◆ isTaskComplete()

def nav2_simple_commander.robot_navigator.BasicNavigator.isTaskComplete (   self,
RunningTask   task = RunningTask.NONE 
) 
Check if the task request of any type is complete yet.

Definition at line 635 of file robot_navigator.py.

References nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.route_result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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◆ lifecycleShutdown()

def nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleShutdown (   self) 
Shutdown nav2 lifecycle system.

Definition at line 1203 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), nav2::LifecycleNode.create_client(), nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.feedback, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, tester_node.RouteTester.initial_pose, nav_through_poses_tester_error_msg_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_pub, tester_node.NavTester.initial_pose_pub, tester_node.RouteTester.initial_pose_pub, nav_through_poses_tester_error_msg_node.NavTester.initial_pose_pub, nav_through_poses_tester_node.NavTester.initial_pose_pub, nav_to_pose_tester_node.NavTester.initial_pose_pub, tester.WaypointFollowerTest.initial_pose_pub, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, tester_node.RouteTester.initial_pose_received, nav_through_poses_tester_error_msg_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, tester.WaypointFollowerTest.initial_pose_received, and nav2_simple_commander.robot_navigator.BasicNavigator.route_feedback.

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◆ lifecycleStartup()

def nav2_simple_commander.robot_navigator.BasicNavigator.lifecycleStartup (   self) 
Startup nav2 lifecycle system.

Definition at line 1178 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._waitForInitialPose(), nav2::LifecycleNode.create_client(), and nav2_simple_commander.robot_navigator.BasicNavigator.info().

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◆ setInitialPose()

def nav2_simple_commander.robot_navigator.BasicNavigator.setInitialPose (   self,
PoseStamped  initial_pose 
) 
Set the initial pose to the localization system.

Definition at line 210 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._setInitialPose(), nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose, tester_node.NavTester.initial_pose, tester_node.RouteTester.initial_pose, nav_through_poses_tester_error_msg_node.NavTester.initial_pose, nav_through_poses_tester_node.NavTester.initial_pose, nav_to_pose_tester_node.NavTester.initial_pose, nav2_simple_commander.robot_navigator.BasicNavigator.initial_pose_received, tester_node.NavTester.initial_pose_received, tester_node.RouteTester.initial_pose_received, nav_through_poses_tester_error_msg_node.NavTester.initial_pose_received, nav_through_poses_tester_node.NavTester.initial_pose_received, nav_to_pose_tester_node.NavTester.initial_pose_received, and tester.WaypointFollowerTest.initial_pose_received.

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◆ smoothPath()

def nav2_simple_commander.robot_navigator.BasicNavigator.smoothPath (   self,
Path  path,
str   smoother_id = '',
float   max_duration = 2.0,
bool   check_for_collision = False 
) 
Send a `SmoothPath` action request.

Definition at line 986 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._smoothPathImpl(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, nav2_waypoint_follower::GoalStatus.status, and nav2_simple_commander.robot_navigator.BasicNavigator.warn().

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◆ toggleCollisionMonitor()

def nav2_simple_commander.robot_navigator.BasicNavigator.toggleCollisionMonitor (   self,
bool  enable 
) 
Toggle the collision monitor.

Definition at line 1163 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.info(), and nav2_simple_commander.robot_navigator.BasicNavigator.toggle_collision_monitor_srv.

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◆ undockRobot()

def nav2_simple_commander.robot_navigator.BasicNavigator.undockRobot (   self,
str   dock_type = '' 
) 
Send a `UndockRobot` action request.

Definition at line 536 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._feedbackCallback(), nav2_simple_commander.robot_navigator.BasicNavigator.clearPreviousState(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_simple_commander.robot_navigator.BasicNavigator.setTaskError(), and nav2_simple_commander.robot_navigator.BasicNavigator.undocking_client.

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◆ waitUntilNav2Active()

def nav2_simple_commander.robot_navigator.BasicNavigator.waitUntilNav2Active (   self,
str   navigator = 'bt_navigator',
str   localizer = 'amcl' 
) 
Block until the full navigation system is up and running.

Definition at line 709 of file robot_navigator.py.

References nav2_simple_commander.robot_navigator.BasicNavigator._waitForInitialPose(), nav2_simple_commander.robot_navigator.BasicNavigator._waitForNodeToActivate(), nav2_simple_commander.robot_navigator.BasicNavigator.compute_path_to_pose_client, nav2_constrained_smoother::OptimizerParams.debug, nav2_simple_commander.robot_navigator.BasicNavigator.debug(), nav2_simple_commander.robot_navigator.BasicNavigator.error(), nav2_simple_commander.robot_navigator.BasicNavigator.goal_handle, backup_tester.BackupTest.goal_handle, drive_tester.DriveTest.goal_handle, spin_tester.SpinTest.goal_handle, tester.GpsWaypointFollowerTest.goal_handle, tester.WaypointFollowerTest.goal_handle, nav2_simple_commander.robot_navigator.BasicNavigator.info(), nav2_simple_commander.robot_navigator.BasicNavigator.result_future, backup_tester.BackupTest.result_future, drive_tester.DriveTest.result_future, spin_tester.SpinTest.result_future, nav2_behaviors::ResultStatus.status, Cell.status, nav2_simple_commander.robot_navigator.BasicNavigator.status, and nav2_waypoint_follower::GoalStatus.status.

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