This class hosts variety of plugins of different algorithms to smooth or refine a path from the exposed SmoothPath action server. More...

#include <nav2_smoother/include/nav2_smoother/nav2_smoother.hpp>

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Public Types
using	SmootherMap = std::unordered_map< std::string, nav2_core::Smoother::Ptr >

Public Types inherited from nav2::LifecycleNode
using	SharedPtr = std::shared_ptr< nav2::LifecycleNode >

using	WeakPtr = std::weak_ptr< nav2::LifecycleNode >

using	SharedConstPointer = std::shared_ptr< const nav2::LifecycleNode >

Public Member Functions
	SmootherServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_smoother::SmootherServer. More...

	~SmootherServer ()
	Destructor for nav2_smoother::SmootherServer.

Public Member Functions inherited from nav2::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

	LifecycleNode (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor with no namespace. More...

template<typename ParameterT >
ParameterT	declare_or_get_parameter (const std::string &parameter_name, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter with specified type (not value). If the parameter is already declared, returns its value; otherwise declares it with the specified type. More...

template<typename ParamType >
ParamType	declare_or_get_parameter (const std::string &parameter_name, const ParamType &default_value, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter. If the parameter is already declared, returns its value; otherwise declares it and returns the default value. More...

template<typename MessageT , typename CallbackT >
nav2::Subscription< MessageT >::SharedPtr	create_subscription (const std::string &topic_name, CallbackT &&callback, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions. More...

template<typename MessageT >
nav2::Publisher< MessageT >::SharedPtr	create_publisher (const std::string &topic_name, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a publisher to a topic using Nav2 QoS profiles and PublisherOptions. More...

template<typename ServiceT >
nav2::ServiceClient< ServiceT >::SharedPtr	create_client (const std::string &service_name, bool use_internal_executor=false)
	Create a ServiceClient to interface with a service. More...

template<typename ServiceT >
nav2::ServiceServer< ServiceT >::SharedPtr	create_service (const std::string &service_name, typename nav2::ServiceServer< ServiceT >::CallbackType cb, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ServiceServer to host with a service. More...

template<typename DurationRepT , typename DurationT , typename CallbackT >
rclcpp::GenericTimer< CallbackT >::SharedPtr	create_timer (std::chrono::duration< DurationRepT, DurationT > period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create a sim-time-aware timer for Nav2 lifecycle nodes. More...

template<typename ActionT >
nav2::SimpleActionServer< ActionT >::SharedPtr	create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, typename nav2::SimpleActionServer< ActionT >::GoalReceivedCallback goal_received_callback=nullptr, typename nav2::SimpleActionServer< ActionT >::CompletionCallback compl_cb=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const bool realtime=false)
	Create a SimpleActionServer to host with an action. More...

template<typename ActionT >
nav2::ActionClient< ActionT >::SharedPtr	create_action_client (const std::string &action_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ActionClient to call an action using. More...

nav2::LifecycleNode::SharedPtr	shared_from_this ()
	Get a shared pointer of this.

nav2::LifecycleNode::WeakPtr	weak_from_this ()
	Get a shared pointer of this.

nav2::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Types
using	Action = nav2_msgs::action::SmoothPath

using	ActionResult = Action::Result

using	ActionServer = nav2::SimpleActionServer< Action >

Protected Member Functions
nav2::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configures smoother parameters and member variables. More...

bool	loadSmootherPlugins ()
	Loads smoother plugins from parameter file. More...

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activates member variables. More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivates member variables. More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Calls clean up states and resets member variables. More...

nav2::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in Shutdown state. More...

bool	goalReceived (std::shared_ptr< const Action::Goal > goal)
	Goal received callback to validate a new goal before acceptance. More...

void	smoothPlan ()
	SmoothPath action server callback. Handles action server updates and spins server until goal is reached. More...

bool	findSmootherId (const std::string &c_name, std::string &name)
	Find the valid smoother ID name for the given request. More...

bool	validate (const nav_msgs::msg::Path &path)
	Validate that the path contains a meaningful path for smoothing. More...

Protected Member Functions inherited from nav2::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
ActionServer::SharedPtr	action_server_

nav2::TransformBuffer::SharedPtr	tf_

nav2::TransformListener::SharedPtr	transform_listener_

nav2::Publisher< nav_msgs::msg::Path >::SharedPtr	plan_publisher_

pluginlib::ClassLoader< nav2_core::Smoother >	lp_loader_

SmootherMap	smoothers_

std::vector< std::string >	default_ids_

std::vector< std::string >	default_types_

std::vector< std::string >	smoother_ids_

std::vector< std::string >	smoother_types_

std::string	smoother_ids_concat_

std::string	current_smoother_

std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_sub_

std::shared_ptr< nav2_costmap_2d::FootprintSubscriber >	footprint_sub_

std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	collision_checker_

Protected Attributes inherited from nav2::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::shared_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period {0.1}

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

This class hosts variety of plugins of different algorithms to smooth or refine a path from the exposed SmoothPath action server.

Definition at line 46 of file nav2_smoother.hpp.

Constructor & Destructor Documentation

◆ SmootherServer()

nav2_smoother::SmootherServer::SmootherServer ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_smoother::SmootherServer.

Parameters

options Additional options to control creation of the node.

Definition at line 33 of file nav2_smoother.cpp.

Member Function Documentation

◆ findSmootherId()

bool nav2_smoother::SmootherServer::findSmootherId	(	const std::string &	c_name,
		std::string &	name
	)

protected

Find the valid smoother ID name for the given request.

Parameters

c_name	The requested smoother name
name	Reference to the name to use for control if any valid available

Returns: bool Whether it found a valid smoother to use

Definition at line 210 of file nav2_smoother.cpp.

Referenced by goalReceived(), and smoothPlan().

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◆ goalReceived()

bool nav2_smoother::SmootherServer::goalReceived ( std::shared_ptr< const Action::Goal > goal )

protected

Goal received callback to validate a new goal before acceptance.

Parameters

goal	The incoming goal to validate

Returns: true if goal should be accepted, false to reject

Definition at line 239 of file nav2_smoother.cpp.

References findSmootherId(), and validate().

Referenced by on_configure().

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◆ loadSmootherPlugins()

bool nav2_smoother::SmootherServer::loadSmootherPlugins ( )

protected

Loads smoother plugins from parameter file.

Returns: bool if successfully loaded the plugins

Definition at line 105 of file nav2_smoother.cpp.

References nav2::LifecycleNode::shared_from_this().

Referenced by on_configure().

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◆ on_activate()

nav2::CallbackReturn nav2_smoother::SmootherServer::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activates member variables.

Activates smoother, costmap, velocity publisher and smooth path action server

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 144 of file nav2_smoother.cpp.

References nav2::LifecycleNode::createBond().

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◆ on_cleanup()

nav2::CallbackReturn nav2_smoother::SmootherServer::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Calls clean up states and resets member variables.

Smoother and costmap clean up state is called, and resets rest of the variables

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 180 of file nav2_smoother.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2::CallbackReturn nav2_smoother::SmootherServer::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configures smoother parameters and member variables.

Configures smoother plugin and costmap; Initialize odom subscriber, velocity publisher and smooth path action server.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Exceptions

pluginlib::PluginlibException When failed to initialize smoother plugin

Definition at line 48 of file nav2_smoother.cpp.

References goalReceived(), loadSmootherPlugins(), on_cleanup(), nav2::LifecycleNode::shared_from_this(), and smoothPlan().

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◆ on_deactivate()

nav2::CallbackReturn nav2_smoother::SmootherServer::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivates member variables.

Deactivates smooth path action server, smoother, costmap and velocity publisher. Before calling deactivate state, velocity is being set to zero.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 162 of file nav2_smoother.cpp.

References nav2::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2::CallbackReturn nav2_smoother::SmootherServer::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in Shutdown state.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 204 of file nav2_smoother.cpp.

◆ smoothPlan()

void nav2_smoother::SmootherServer::smoothPlan ( )

protected

SmoothPath action server callback. Handles action server updates and spins server until goal is reached.

Provides global path to smoother received from action client. Local section of the path is optimized using smoother.

Exceptions

nav2_core::PlannerException

Definition at line 255 of file nav2_smoother.cpp.

References findSmootherId().

Referenced by on_configure().

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◆ validate()

bool nav2_smoother::SmootherServer::validate ( const nav_msgs::msg::Path & path )

protected

Validate that the path contains a meaningful path for smoothing.

Parameters

path	current path return bool if the path is valid

Definition at line 363 of file nav2_smoother.cpp.

Referenced by goalReceived().

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

nav2_smoother/include/nav2_smoother/nav2_smoother.hpp
nav2_smoother/src/nav2_smoother.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SmootherServer()

Member Function Documentation

◆ findSmootherId()

◆ goalReceived()

◆ loadSmootherPlugins()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ smoothPlan()

◆ validate()