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

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

Inheritance diagram for nav2_behaviors::Spin:

Collaboration diagram for nav2_behaviors::Spin:

Public Types
using	SpinActionGoal = SpinAction::Goal

using	SpinActionResult = SpinAction::Result

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

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

Public Member Functions
	Spin ()
	A constructor for nav2_behaviors::Spin.

ResultStatus	onRun (const std::shared_ptr< const SpinActionGoal > command) override
	Initialization to run behavior. More...

void	onConfigure () override
	Configuration of behavior 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< SpinAction >
	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
bool	isCollisionFree (const double &distance, const geometry_msgs::msg::Twist &cmd_vel, geometry_msgs::msg::Pose &pose)
	Check if pose is collision free. More...

Protected Member Functions inherited from nav2_behaviors::TimedBehavior< SpinAction >
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
SpinAction::Feedback::SharedPtr	feedback_

double	min_rotational_vel_

double	max_rotational_vel_

double	rotational_acc_lim_

double	cmd_yaw_

bool	cmd_disable_collision_checks_

double	prev_yaw_

double	relative_yaw_

double	simulate_ahead_time_

rclcpp::Duration	command_time_allowance_ {0, 0}

rclcpp::Time	end_time_

Protected Attributes inherited from nav2_behaviors::TimedBehavior< SpinAction >
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 spinning in.

Definition at line 35 of file spin.hpp.

Member Function Documentation

◆ getResourceInfo()

CostmapInfoType nav2_behaviors::Spin::getResourceInfo ( )

inlineoverridevirtual

Method to determine the required costmap info.

Returns: costmap resources needed

Implements nav2_core::Behavior.

Definition at line 71 of file spin.hpp.

◆ isCollisionFree()

bool nav2_behaviors::Spin::isCollisionFree	(	const double &	distance,
		const geometry_msgs::msg::Twist &	cmd_vel,
		geometry_msgs::msg::Pose &	pose
	)

protected

Check if pose is collision free.

Parameters

distance	Distance to check forward
cmd_vel	current commanded velocity
pose2d	Current pose

Returns: is collision free or not

Definition at line 145 of file spin.cpp.

Referenced by onCycleUpdate().

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◆ onCycleUpdate()

ResultStatus nav2_behaviors::Spin::onCycleUpdate ( )

overridevirtual

Loop function to run behavior.

Returns: Status of behavior

Implements nav2_behaviors::TimedBehavior< SpinAction >.

Definition at line 86 of file spin.cpp.

References nav2_behaviors::TimedBehavior< SpinAction >::getCurrentPoseChecked(), and isCollisionFree().

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◆ onRun()

ResultStatus nav2_behaviors::Spin::onRun ( const std::shared_ptr< const SpinActionGoal > command )

override

Initialization to run behavior.

Parameters

command Goal to execute

Returns: Status of behavior

Definition at line 62 of file spin.cpp.

References nav2_behaviors::TimedBehavior< SpinAction >::getCurrentPoseChecked().

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

nav2_behaviors/include/nav2_behaviors/plugins/spin.hpp
nav2_behaviors/plugins/spin.cpp

Public Types

Public Member Functions