An action server behavior for assisted teleop. More...

#include <nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp>

Inheritance diagram for nav2_behaviors::AssistedTeleop:

Collaboration diagram for nav2_behaviors::AssistedTeleop:

Public Types
using	AssistedTeleopActionGoal = AssistedTeleopAction::Goal

using	AssistedTeleopActionResult = AssistedTeleopAction::Result

Public Types inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
using	ActionServer = nav2::SimpleActionServer< AssistedTeleopAction >

Public Types inherited from nav2_core::Behavior
using	Ptr = std::shared_ptr< Behavior >

Public Member Functions
ResultStatus	onRun (const std::shared_ptr< const AssistedTeleopActionGoal > command) override
	Initialization to run behavior. More...

void	onActionCompletion (std::shared_ptr< AssistedTeleopActionResult >) override
	func to run at the completion of the action

ResultStatus	onCycleUpdate () override
	Loop function to run behavior. More...

CostmapInfoType	getResourceInfo () override
	Method to determine the required costmap info. More...

Public Member Functions inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
	TimedBehavior ()
	A TimedBehavior constructor.

virtual ResultStatus	onRun (const std::shared_ptr< const typename ActionT::Goal > command)=0

virtual void	onCleanup ()

virtual void	onActionCompletion (std::shared_ptr< typename ActionT::Result >)

void	configure (const nav2::LifecycleNode::WeakPtr &parent, const std::string &name, nav2::TransformBuffer::SharedPtr tf, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > local_collision_checker, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > global_collision_checker) override

void	cleanup () override
	Method to cleanup resources used on shutdown.

void	activate () override
	Method to active Behavior and any threads involved in execution.

void	deactivate () override
	Method to deactivate Behavior and any threads involved in execution.

Public Member Functions inherited from nav2_core::Behavior
virtual	~Behavior ()
	Virtual destructor.

Protected Member Functions
void	onConfigure () override
	Configuration of behavior action.

geometry_msgs::msg::Pose	projectPose (const geometry_msgs::msg::Pose &pose, const geometry_msgs::msg::Twist &twist, double projection_time)
	project a position More...

void	preemptTeleopCallback (const std_msgs::msg::Empty::ConstSharedPtr &msg)
	Callback function to preempt assisted teleop. More...

bool	isTeleopCommandStale (const rclcpp::Time &now) const
	Check whether the last teleop command is older than teleop_command_timeout. More...

Protected Member Functions inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
bool	getCurrentPoseChecked (geometry_msgs::msg::PoseStamped &pose)
	Get one checked robot pose in the local frame, preserving the TF timestamp. More...

void	execute ()

void	stopRobot ()

Protected Attributes
AssistedTeleopAction::Feedback::SharedPtr	feedback_

double	projection_time_

double	simulation_time_step_

double	teleop_command_timeout_

geometry_msgs::msg::TwistStamped	teleop_twist_

bool	received_first_command_ {false}

bool	preempt_teleop_ {false}

std::unique_ptr< nav2_util::TwistSubscriber >	vel_sub_

nav2::Subscription< std_msgs::msg::Empty >::SharedPtr	preempt_teleop_sub_

rclcpp::Duration	command_time_allowance_ {0, 0}

rclcpp::Time	end_time_

Protected Attributes inherited from nav2_behaviors::TimedBehavior< AssistedTeleopAction >
nav2::LifecycleNode::WeakPtr	node_

std::string	behavior_name_

std::unique_ptr< nav2_util::TwistPublisher >	vel_pub_

ActionServer::SharedPtr	action_server_

std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	local_collision_checker_

std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	global_collision_checker_

nav2::TransformBuffer::SharedPtr	tf_

double	cycle_frequency_

double	enabled_

std::string	local_frame_

std::string	global_frame_

std::string	robot_base_frame_

double	transform_staleness_threshold_

rclcpp::Duration	elapsed_time_

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_

Detailed Description

An action server behavior for assisted teleop.

Definition at line 36 of file assisted_teleop.hpp.

Member Function Documentation

◆ getResourceInfo()

CostmapInfoType nav2_behaviors::AssistedTeleop::getResourceInfo ( )

inlineoverridevirtual

Method to determine the required costmap info.

Returns: costmap resources needed

Implements nav2_core::Behavior.

Definition at line 67 of file assisted_teleop.hpp.

◆ isTeleopCommandStale()

bool nav2_behaviors::AssistedTeleop::isTeleopCommandStale ( const rclcpp::Time & now ) const

protected

Check whether the last teleop command is older than teleop_command_timeout.

Parameters

now	Current time to compare the command stamp against

Returns: true if the timeout is enabled, a command was received, and it is stale

Definition at line 186 of file assisted_teleop.cpp.

◆ onCycleUpdate()

ResultStatus nav2_behaviors::AssistedTeleop::onCycleUpdate ( )

overridevirtual

Loop function to run behavior.

Returns: Status of behavior

Implements nav2_behaviors::TimedBehavior< AssistedTeleopAction >.

Definition at line 80 of file assisted_teleop.cpp.

◆ onRun()

ResultStatus nav2_behaviors::AssistedTeleop::onRun ( const std::shared_ptr< const AssistedTeleopActionGoal > command )

override

Initialization to run behavior.

Parameters

command Goal to execute

Returns: Status of behavior

Definition at line 64 of file assisted_teleop.cpp.

◆ preemptTeleopCallback()

void nav2_behaviors::AssistedTeleop::preemptTeleopCallback ( const std_msgs::msg::Empty::ConstSharedPtr & msg )

protected

Callback function to preempt assisted teleop.

Parameters

msg	empty message

Definition at line 181 of file assisted_teleop.cpp.

◆ projectPose()

geometry_msgs::msg::Pose nav2_behaviors::AssistedTeleop::projectPose	(	const geometry_msgs::msg::Pose &	pose,
		const geometry_msgs::msg::Twist &	twist,
		double	projection_time
	)

protected

project a position

Parameters

pose	initial pose to project
twist	velocity to project pose by
projection_time	time to project by

Definition at line 158 of file assisted_teleop.cpp.

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

nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp
nav2_behaviors/plugins/assisted_teleop.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ getResourceInfo()

◆ isTeleopCommandStale()

◆ onCycleUpdate()

◆ onRun()

◆ preemptTeleopCallback()

◆ projectPose()