This class that smooths cmd_vel velocities for robot bases. More...

#include <nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp>

Inheritance diagram for nav2_velocity_smoother::VelocitySmoother:

Collaboration diagram for nav2_velocity_smoother::VelocitySmoother:

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Public Member Functions
	VelocitySmoother (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_velocity_smoother::VelocitySmoother. More...

	~VelocitySmoother ()
	Destructor for nav2_velocity_smoother::VelocitySmoother.

double	findEtaConstraint (const double v_curr, const double v_cmd, const double accel, const double decel)
	Find the scale factor, eta, which scales axis into acceleration range. More...

double	applyConstraints (const double v_curr, const double v_cmd, const double accel, const double decel, const double eta)
	Apply acceleration and scale factor constraints. More...

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

void	inputCommandCallback (const geometry_msgs::msg::Twist::ConstSharedPtr &msg)
	Callback for incoming velocity commands. More...

void	inputCommandStampedCallback (const geometry_msgs::msg::TwistStamped::ConstSharedPtr &msg)

void	smootherTimer ()
	Main worker timer function.

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

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

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::unique_ptr< nav2_util::OdomSmoother >	odom_smoother_

std::unique_ptr< nav2_util::TwistPublisher >	smoothed_cmd_pub_

std::unique_ptr< nav2_util::TwistSubscriber >	cmd_sub_

rclcpp::TimerBase::SharedPtr	timer_

rclcpp::Clock::SharedPtr	clock_

geometry_msgs::msg::TwistStamped	last_cmd_

geometry_msgs::msg::TwistStamped	command_

double	smoothing_frequency_

double	odom_duration_

std::string	odom_topic_

bool	open_loop_

bool	stopped_ {true}

bool	scale_velocities_

bool	is_6dof_

bool	received_first_command_

std::vector< double >	max_velocities_

std::vector< double >	min_velocities_

std::vector< double >	max_accels_

std::vector< double >	max_decels_

std::vector< double >	deadband_velocities_

rclcpp::Duration	velocity_timeout_ {0, 0}

rclcpp::Time	last_command_time_

std::mutex	mutex_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

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_

Additional Inherited Members
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 >

Detailed Description

This class that smooths cmd_vel velocities for robot bases.

Definition at line 41 of file velocity_smoother.hpp.

Constructor & Destructor Documentation

◆ VelocitySmoother()

nav2_velocity_smoother::VelocitySmoother::VelocitySmoother ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_velocity_smoother::VelocitySmoother.

Parameters

options Additional options to control creation of the node.

Definition at line 31 of file velocity_smoother.cpp.

Member Function Documentation

◆ applyConstraints()

double nav2_velocity_smoother::VelocitySmoother::applyConstraints	(	const double	v_curr,
		const double	v_cmd,
		const double	accel,
		const double	decel,
		const double	eta
	)

Apply acceleration and scale factor constraints.

Parameters

v_curr	current velocity
v_cmd	commanded velocity
accel	maximum acceleration
decel	maximum deceleration
eta	Scale factor

Returns: Velocity command

Definition at line 289 of file velocity_smoother.cpp.

Referenced by smootherTimer().

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◆ findEtaConstraint()

double nav2_velocity_smoother::VelocitySmoother::findEtaConstraint	(	const double	v_curr,
		const double	v_cmd,
		const double	accel,
		const double	decel
	)

Find the scale factor, eta, which scales axis into acceleration range.

Parameters

v_curr	current velocity
v_cmd	commanded velocity
accel	maximum acceleration
decel	maximum deceleration

Returns: Scale factor, eta

Definition at line 258 of file velocity_smoother.cpp.

Referenced by smootherTimer().

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◆ inputCommandCallback()

void nav2_velocity_smoother::VelocitySmoother::inputCommandCallback ( const geometry_msgs::msg::Twist::ConstSharedPtr & msg )

protected

Callback for incoming velocity commands.

Parameters

msg	Twist message

Definition at line 250 of file velocity_smoother.cpp.

Referenced by on_configure().

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◆ on_activate()

nav2::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activates member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 165 of file velocity_smoother.cpp.

References nav2::LifecycleNode::create_timer(), nav2::LifecycleNode::createBond(), nav2::LifecycleNode::shared_from_this(), smootherTimer(), updateParametersCallback(), and validateParameterUpdatesCallback().

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◆ on_cleanup()

nav2::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Calls clean up states and resets member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 216 of file velocity_smoother.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configures parameters and member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 46 of file velocity_smoother.cpp.

References inputCommandCallback(), on_cleanup(), and nav2::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2::CallbackReturn nav2_velocity_smoother::VelocitySmoother::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivates member variables.

Parameters

state LifeCycle Node's state

Returns: Success or Failure

Definition at line 191 of file velocity_smoother.cpp.

References nav2::LifecycleNode::destroyBond(), and nav2::LifecycleNode::shared_from_this().

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◆ on_shutdown()

nav2::CallbackReturn nav2_velocity_smoother::VelocitySmoother::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 226 of file velocity_smoother.cpp.

◆ updateParametersCallback()

void nav2_velocity_smoother::VelocitySmoother::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters List of parameters that have been updated.

Definition at line 574 of file velocity_smoother.cpp.

References nav2::LifecycleNode::create_timer(), nav2::LifecycleNode::shared_from_this(), and smootherTimer().

Referenced by on_activate().

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◆ validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_velocity_smoother::VelocitySmoother::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters List of parameters that are being updated.

Returns: rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 499 of file velocity_smoother.cpp.

Referenced by on_activate().

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

nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp
nav2_velocity_smoother/src/velocity_smoother.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VelocitySmoother()

Member Function Documentation

◆ applyConstraints()

◆ findEtaConstraint()

◆ inputCommandCallback()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ updateParametersCallback()

◆ validateParameterUpdatesCallback()