Inheritance diagram for nav2_behaviors::TimedBehavior< ActionT >:

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Collaboration diagram for nav2_behaviors::TimedBehavior< ActionT >:

Public Types
using	ActionServer = nav2::SimpleActionServer< ActionT >

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

Public Member Functions
	TimedBehavior ()
	A TimedBehavior constructor.

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

virtual ResultStatus	onCycleUpdate ()=0

virtual void	onConfigure ()

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.

virtual CostmapInfoType	getResourceInfo ()=0
	Method to determine the required costmap info. More...

Protected Member Functions
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
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_ {0.0}

rclcpp::Duration	elapsed_time_ {0, 0}

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_behaviors")}

Detailed Description

Definition at line 66 of file timed_behavior.hpp.

Member Function Documentation

template<typename ActionT >

void nav2_behaviors::TimedBehavior< ActionT >::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
	)

inlineoverridevirtual

Parameters

Definition at line 114 of file timed_behavior.hpp.

template<typename ActionT >

bool nav2_behaviors::TimedBehavior< ActionT >::getCurrentPoseChecked ( geometry_msgs::msg::PoseStamped & pose )

inlineprotected

Get one checked robot pose in the local frame, preserving the TF timestamp.

Parameters

pose	Pose to reuse throughout the current run initialization or cycle

Returns: False if the transform is missing or stale; pose is unchanged on failure

Definition at line 183 of file timed_behavior.hpp.

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