nav2_behaviors::DriveOnHeading< ActionT > Class Template Reference

An action server Behavior for spinning in. More...

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

Inheritance diagram for nav2_behaviors::DriveOnHeading< ActionT >:

Collaboration diagram for nav2_behaviors::DriveOnHeading< ActionT >:

Public Member Functions
	DriveOnHeading ()
	A constructor for nav2_behaviors::DriveOnHeading.
ResultStatus	onRun (const std::shared_ptr< const typename ActionT::Goal > command) override
	Initialization to run behavior. More...
ResultStatus	onCycleUpdate () override
	Loop function to run behavior. More...
CostmapInfoType	getResourceInfo () override
	Method to determine the required costmap info. More...
void	onCleanup () override
void	onActionCompletion (std::shared_ptr< typename ActionT::Result >) override
Public Member Functions inherited from nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >
	TimedBehavior ()
	A TimedBehavior constructor.
void	configure (const nav2::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > 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
bool	isCollisionFree (const double &distance, const geometry_msgs::msg::Twist &cmd_vel, geometry_msgs::msg::Pose &pose)
	Check if pose is collision free. More...
void	onConfigure () override
	Configuration of behavior action.
Protected Member Functions inherited from nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >
void	execute ()
void	stopRobot ()

Protected Attributes
ActionT::Feedback::SharedPtr	feedback_
geometry_msgs::msg::PoseStamped	initial_pose_
double	command_x_
double	command_speed_
bool	command_disable_collision_checks_
rclcpp::Duration	command_time_allowance_ {0, 0}
rclcpp::Time	end_time_
double	simulate_ahead_time_
double	acceleration_limit_
double	deceleration_limit_
double	minimum_speed_
double	last_vel_ = std::numeric_limits<double>::max()
Protected Attributes inherited from nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >
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_
std::shared_ptr< tf2_ros::Buffer >	tf_
double	cycle_frequency_
double	enabled_
std::string	local_frame_
std::string	global_frame_
std::string	robot_base_frame_
double	transform_tolerance_
rclcpp::Duration	elapsed_time_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_

Additional Inherited Members
Public Types inherited from nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >
using	ActionServer = nav2::SimpleActionServer< nav2_msgs::action::DriveOnHeading >
Public Types inherited from nav2_core::Behavior
using	Ptr = std::shared_ptr< Behavior >

Detailed Description

template<typename ActionT = nav2_msgs::action::DriveOnHeading>
class nav2_behaviors::DriveOnHeading< ActionT >

An action server Behavior for spinning in.

Definition at line 39 of file drive_on_heading.hpp.

Member Function Documentation

getResourceInfo()

template<typename ActionT = nav2_msgs::action::DriveOnHeading>

CostmapInfoType nav2_behaviors::DriveOnHeading< ActionT >::getResourceInfo ( )

inlineoverridevirtual

Method to determine the required costmap info.

Returns

costmap resources needed

Implements nav2_core::Behavior.

Definition at line 185 of file drive_on_heading.hpp.

isCollisionFree()

template<typename ActionT = nav2_msgs::action::DriveOnHeading>

bool nav2_behaviors::DriveOnHeading< ActionT >::isCollisionFree ( const double &  distance, const geometry_msgs::msg::Twist &  cmd_vel, geometry_msgs::msg::Pose &  pose  )

inlineprotected

Check if pose is collision free.

Parameters

distance	Distance to check forward
cmd_vel	current commanded velocity
pose	Current pose

Returns

is collision free or not

Definition at line 203 of file drive_on_heading.hpp.

Referenced by nav2_behaviors::DriveOnHeading< ActionT >::onCycleUpdate().

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onCycleUpdate()

template<typename ActionT = nav2_msgs::action::DriveOnHeading>

ResultStatus nav2_behaviors::DriveOnHeading< ActionT >::onCycleUpdate ( )

inlineoverridevirtual

Loop function to run behavior.

Returns

Status of behavior

Implements nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >.

Definition at line 103 of file drive_on_heading.hpp.

References nav2_behaviors::DriveOnHeading< ActionT >::isCollisionFree().

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onRun()

template<typename ActionT = nav2_msgs::action::DriveOnHeading>

ResultStatus nav2_behaviors::DriveOnHeading< ActionT >::onRun ( const std::shared_ptr< const typename ActionT::Goal >  command )

inlineoverridevirtual

Initialization to run behavior.

Parameters

command

Goal to execute

Returns

Status of behavior

Implements nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >.

Definition at line 64 of file drive_on_heading.hpp.

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

• nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp