A nav2_behavior_tree::BtServiceNode class that validates a path by calling the IsPathValid service on the path provided in the input port. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/validate_path_action.hpp>

Inheritance diagram for nav2_behavior_tree::ValidatePath:

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Collaboration diagram for nav2_behavior_tree::ValidatePath:

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Public Member Functions
	ValidatePath (const std::string &service_node_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::ValidatePath. More...

void	on_tick () override
	The main override required by a BT service. More...

BT::NodeStatus	on_completion (std::shared_ptr< nav2_msgs::srv::IsPathValid::Response > response) override
	Function to perform some user-defined operation after receiving a result from the service. More...

Public Member Functions inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::IsPathValid >
	BtServiceNode (const std::string &service_node_name, const BT::NodeConfiguration &conf, const std::string &service_name="")
	A nav2_behavior_tree::BtServiceNode constructor. More...

void	initialize ()
	Function to read parameters and initialize class variables.

void	createROSInterfaces ()
	Function to create ROS interfaces.

BT::NodeStatus	tick () override
	The main override required by a BT service. More...

void	halt () override
	The other (optional) override required by a BT service.

virtual BT::NodeStatus	on_completion (std::shared_ptr< typename ServiceT::Response >)
	Function to perform some user-defined operation upon successful completion of the service. Could put a value on the blackboard. More...

virtual void	on_timeout ()
	Function to perform work in a BT Node when the service call times out.

virtual BT::NodeStatus	check_future ()
	Check the future and decide the status of BT. More...

virtual void	on_wait_for_result ()
	Function to perform some user-defined operation after a timeout waiting for a result that hasn't been received yet.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Static Public Member Functions inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::IsPathValid >
static BT::PortsList	providedBasicPorts (BT::PortsList addition)
	Any subclass of BtServiceNode that accepts parameters must provide a providedPorts method and call providedBasicPorts in it. More...

static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Additional Inherited Members
Protected Member Functions inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::IsPathValid >
void	increment_recovery_count ()
	Function to increment recovery count on blackboard if this node wraps a recovery.

Protected Attributes inherited from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::IsPathValid >
std::string	service_name_

std::string	service_node_name_

nav2::ServiceClient< nav2_msgs::srv::IsPathValid >::SharedPtr	service_client_

std::shared_ptr< typename ServiceT::Request >	request_

nav2::LifecycleNode::SharedPtr	node_

std::chrono::milliseconds	server_timeout_

std::chrono::milliseconds	max_timeout_

std::chrono::milliseconds	wait_for_service_timeout_

std::shared_future< typename ServiceT::Response::SharedPtr >	future_result_

bool	request_sent_

rclcpp::Time	sent_time_

bool	should_send_request_

Detailed Description

A nav2_behavior_tree::BtServiceNode class that validates a path by calling the IsPathValid service on the path provided in the input port.

Usage in XML:

<ValidatePath
  server_timeout="10"
  path="{path}"
  max_cost="100"
  consider_unknown_as_obstacle="false"
  layer_name=""
  footprint=""
  stop_at_first_collision="true"
  collision_poses="{collision_poses}" />
 
<!-- With max_lookahead_distance: -->
<ValidatePath
  path="{path}"
  max_lookahead_distance="5.0"
  collision_poses="{collision_poses}" />
 
<!-- With custom footprint: -->
<ValidatePath
  path="{path}"
  footprint="[[0.5,0.5],[0.5,-0.5],[-0.5,-0.5],[-0.5,0.5]]"
  collision_poses="{collision_poses}" />
 
<!-- Checking a specific costmap layer: -->
<ValidatePath
  path="{path}"
  layer_name="obstacle_layer"
  stop_at_first_collision="false"
  collision_poses="{collision_poses}" />

Definition at line 70 of file validate_path_action.hpp.

Constructor & Destructor Documentation

◆ ValidatePath()

nav2_behavior_tree::ValidatePath::ValidatePath	(	const std::string &	service_node_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::ValidatePath.

Parameters

service_node_name	Service name this node creates a client for
conf	BT node configuration

Definition at line 24 of file validate_path_action.cpp.

Member Function Documentation

◆ on_completion()

BT::NodeStatus nav2_behavior_tree::ValidatePath::on_completion ( std::shared_ptr< nav2_msgs::srv::IsPathValid::Response > response )

override

Function to perform some user-defined operation after receiving a result from the service.

Parameters

response The response received from the service

Returns: BT::NodeStatus Status of tick execution after processing the response

Definition at line 52 of file validate_path_action.cpp.

◆ on_tick()

void nav2_behavior_tree::ValidatePath::on_tick ( )

overridevirtual

The main override required by a BT service.

Returns: BT::NodeStatus Status of tick execution

Reimplemented from nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::IsPathValid >.

Definition at line 32 of file validate_path_action.cpp.

◆ providedPorts()

static BT::PortsList nav2_behavior_tree::ValidatePath::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing node-specific ports

Definition at line 100 of file validate_path_action.hpp.

References nav2_behavior_tree::BtServiceNode< nav2_msgs::srv::IsPathValid >::providedBasicPorts().

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

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/validate_path_action.hpp
nav2_behavior_tree/plugins/action/validate_path_action.cpp

Public Member Functions

Static Public Member Functions