behavior_server::BehaviorServer Class Reference

An server hosting a map of behavior plugins. More...

#include <nav2_behaviors/include/nav2_behaviors/behavior_server.hpp>

Inheritance diagram for behavior_server::BehaviorServer:

Collaboration diagram for behavior_server::BehaviorServer:

Public Member Functions
	BehaviorServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for behavior_server::BehaviorServer. 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 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 ActionT >
nav2::SimpleActionServer< ActionT >::SharedPtr	create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, 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
bool	loadBehaviorPlugins ()
	Loads behavior plugins from parameter file. More...
void	configureBehaviorPlugins ()
	configures behavior plugins
void	setupResourcesForBehaviorPlugins ()
	configures behavior plugins
nav2::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configure lifecycle server.
nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activate lifecycle server.
nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivate lifecycle server.
nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Cleanup lifecycle server.
nav2::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Shutdown lifecycle server.
Protected Member Functions inherited from nav2::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.
void	register_rcl_preshutdown_callback ()
void	runCleanups ()

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tf_
std::shared_ptr< tf2_ros::TransformListener >	transform_listener_
pluginlib::ClassLoader< nav2_core::Behavior >	plugin_loader_
std::vector< pluginlib::UniquePtr< nav2_core::Behavior > >	behaviors_
std::vector< std::string >	default_ids_
std::vector< std::string >	default_types_
std::vector< std::string >	behavior_ids_
std::vector< std::string >	behavior_types_
std::unique_ptr< nav2_costmap_2d::CostmapSubscriber >	local_costmap_sub_
std::unique_ptr< nav2_costmap_2d::FootprintSubscriber >	local_footprint_sub_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	local_collision_checker_
std::unique_ptr< nav2_costmap_2d::CostmapSubscriber >	global_costmap_sub_
std::unique_ptr< nav2_costmap_2d::FootprintSubscriber >	global_footprint_sub_
std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	global_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_

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

An server hosting a map of behavior plugins.

Definition at line 38 of file behavior_server.hpp.

Constructor & Destructor Documentation

BehaviorServer()

behavior_server::BehaviorServer::BehaviorServer ( const rclcpp::NodeOptions &  options = rclcpp::NodeOptions() )

explicit

A constructor for behavior_server::BehaviorServer.

Parameters

options

Additional options to control creation of the node.

Definition at line 25 of file behavior_server.cpp.

Member Function Documentation

loadBehaviorPlugins()

bool behavior_server::BehaviorServer::loadBehaviorPlugins ( )

protected

Loads behavior plugins from parameter file.

Returns

bool if successfully loaded the plugins

Definition at line 104 of file behavior_server.cpp.

References nav2::LifecycleNode::shared_from_this().

Referenced by on_configure().

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

• nav2_behaviors/include/nav2_behaviors/behavior_server.hpp
• nav2_behaviors/src/behavior_server.cpp