nav2_system_tests::UnknownErrorController Class Reference

Inheritance diagram for nav2_system_tests::UnknownErrorController:

Collaboration diagram for nav2_system_tests::UnknownErrorController:

Public Member Functions
void	configure (const nav2::LifecycleNode::WeakPtr &, std::string, nav2::TransformBuffer::SharedPtr, std::shared_ptr< nav2_costmap_2d::Costmap2DROS >) override
void	cleanup ()
	Method to cleanup resources.
void	activate ()
	Method to active planner and any threads involved in execution.
void	deactivate ()
	Method to deactivate planner and any threads involved in execution.
void	newPathReceived (const nav_msgs::msg::Path &)
	local setPlan - Notifies the Controller that a new plan is received from the Planner Server More...
virtual geometry_msgs::msg::TwistStamped	computeVelocityCommands (const geometry_msgs::msg::PoseStamped &, const geometry_msgs::msg::Twist &, nav2_core::GoalChecker *, const nav_msgs::msg::Path &, const geometry_msgs::msg::PoseStamped &)
	Controller computeVelocityCommands - calculates the best command given the current pose and velocity. More...
void	setSpeedLimit (const double &, const bool &)
	Limits the maximum linear speed of the robot. More...
Public Member Functions inherited from nav2_core::Controller
virtual	~Controller ()
	Virtual destructor.
virtual bool	cancel ()
	Cancel the current control action. More...
virtual void	reset ()
	Reset the state of the controller if necessary after task is exited.

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

Detailed Description

Definition at line 28 of file controller_error_plugins.hpp.

Member Function Documentation

computeVelocityCommands()

virtual geometry_msgs::msg::TwistStamped nav2_system_tests::UnknownErrorController::computeVelocityCommands ( const geometry_msgs::msg::PoseStamped &  pose, const geometry_msgs::msg::Twist &  velocity, nav2_core::GoalChecker *  goal_checker, const nav_msgs::msg::Path &  transformed_global_plan, const geometry_msgs::msg::PoseStamped &  global_goal  )

inlinevirtual

Controller computeVelocityCommands - calculates the best command given the current pose and velocity.

It is presumed that the global plan is already set.

This is mostly a wrapper for the protected computeVelocityCommands function which has additional debugging info.

Parameters

pose	Current robot pose
velocity	Current robot velocity
goal_checker	Pointer to the current goal checker the task is utilizing
transformed_global_plan	The global plan after being processed by the path handler
global_goal	The last pose of the global plan

Returns

The best command for the robot to drive

Implements nav2_core::Controller.

Definition at line 47 of file controller_error_plugins.hpp.

configure()

void nav2_system_tests::UnknownErrorController::configure ( const nav2::LifecycleNode::WeakPtr &  , std::string  name, nav2::TransformBuffer::SharedPtr  , std::shared_ptr< nav2_costmap_2d::Costmap2DROS >    )

inlineoverridevirtual

Parameters

parent	pointer to user's node
costmap_ros	A pointer to the costmap

Implements nav2_core::Controller.

Definition at line 34 of file controller_error_plugins.hpp.

newPathReceived()

void nav2_system_tests::UnknownErrorController::newPathReceived ( const nav_msgs::msg::Path &  raw_global_path )

inlinevirtual

local setPlan - Notifies the Controller that a new plan is received from the Planner Server

Parameters

path	The global plan

Note

This callback should only perform minimal work, such as extracting global information that may be of interest (e.g. reset internal states when new path received). The controller will be provided with the transformed and pruned plan in the local frame during computeVelocityCommands().

Implements nav2_core::Controller.

Definition at line 45 of file controller_error_plugins.hpp.

setSpeedLimit()

void nav2_system_tests::UnknownErrorController::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

inlinevirtual

Limits the maximum linear speed of the robot.

Parameters

speed_limit	expressed in absolute value (in m/s) or in percentage from maximum robot speed.
percentage	Setting speed limit in percentage if true or in absolute values in false case.

Implements nav2_core::Controller.

Definition at line 57 of file controller_error_plugins.hpp.

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

• nav2_system_tests/src/error_codes/controller/controller_error_plugins.hpp