An action server that uses behavior tree for navigating a robot to its goal position. More...

#include <nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp>

Inheritance diagram for nav2_bt_navigator::BtNavigator:

Collaboration diagram for nav2_bt_navigator::BtNavigator:

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Public Member Functions
	BtNavigator (rclcpp::NodeOptions options=rclcpp::NodeOptions())
	A constructor for nav2_bt_navigator::BtNavigator class. More...

	~BtNavigator ()
	A destructor for nav2_bt_navigator::BtNavigator class.

Public Member Functions inherited from nav2::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

	LifecycleNode (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor with no namespace. More...

template<typename ParameterT >
ParameterT	declare_or_get_parameter (const std::string &parameter_name, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter with specified type (not value). If the parameter is already declared, returns its value; otherwise declares it with the specified type. More...

template<typename ParamType >
ParamType	declare_or_get_parameter (const std::string &parameter_name, const ParamType &default_value, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter. If the parameter is already declared, returns its value; otherwise declares it and returns the default value. More...

template<typename MessageT , typename CallbackT >
nav2::Subscription< MessageT >::SharedPtr	create_subscription (const std::string &topic_name, CallbackT &&callback, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions. More...

template<typename MessageT >
nav2::Publisher< MessageT >::SharedPtr	create_publisher (const std::string &topic_name, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a publisher to a topic using Nav2 QoS profiles and PublisherOptions. More...

template<typename ServiceT >
nav2::ServiceClient< ServiceT >::SharedPtr	create_client (const std::string &service_name, bool use_internal_executor=false)
	Create a ServiceClient to interface with a service. More...

template<typename ServiceT >
nav2::ServiceServer< ServiceT >::SharedPtr	create_service (const std::string &service_name, typename nav2::ServiceServer< ServiceT >::CallbackType cb, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ServiceServer to host with a service. More...

template<typename ActionT >
nav2::SimpleActionServer< ActionT >::SharedPtr	create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, typename nav2::SimpleActionServer< ActionT >::CompletionCallback compl_cb=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const bool realtime=false)
	Create a SimpleActionServer to host with an action. More...

template<typename ActionT >
nav2::ActionClient< ActionT >::SharedPtr	create_action_client (const std::string &action_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ActionClient to call an action using. More...

nav2::LifecycleNode::SharedPtr	shared_from_this ()
	Get a shared pointer of this.

nav2::LifecycleNode::WeakPtr	weak_from_this ()
	Get a shared pointer of this.

nav2::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Member Functions
nav2::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Configures member variables. More...

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activates action server. More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivates action server. More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Resets member variables. More...

nav2::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in shutdown state. More...

Protected Member Functions inherited from nav2::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
pluginlib::ClassLoader< nav2_core::NavigatorBase >	class_loader_

std::vector< pluginlib::UniquePtr< nav2_core::NavigatorBase > >	navigators_

nav2_core::NavigatorMuxer	plugin_muxer_

std::shared_ptr< nav2_util::OdomSmoother >	odom_smoother_

std::string	robot_frame_

std::string	global_frame_

double	transform_tolerance_

double	filter_duration_

std::string	odom_topic_

std::shared_ptr< tf2_ros::Buffer >	tf_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

Protected Attributes inherited from nav2::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::shared_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period {0.1}

rclcpp::TimerBase::SharedPtr	autostart_timer_

Additional Inherited Members
Public Types inherited from nav2::LifecycleNode
using	SharedPtr = std::shared_ptr< nav2::LifecycleNode >

using	WeakPtr = std::weak_ptr< nav2::LifecycleNode >

using	SharedConstPointer = std::shared_ptr< const nav2::LifecycleNode >

Detailed Description

An action server that uses behavior tree for navigating a robot to its goal position.

Definition at line 40 of file bt_navigator.hpp.

Constructor & Destructor Documentation

◆ BtNavigator()

nav2_bt_navigator::BtNavigator::BtNavigator ( rclcpp::NodeOptions options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_bt_navigator::BtNavigator class.

Parameters

options Additional options to control creation of the node.

Definition at line 35 of file bt_navigator.cpp.

Member Function Documentation

◆ on_activate()

nav2::CallbackReturn nav2_bt_navigator::BtNavigator::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activates action server.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 133 of file bt_navigator.cpp.

References nav2::LifecycleNode::createBond(), and on_deactivate().

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◆ on_cleanup()

nav2::CallbackReturn nav2_bt_navigator::BtNavigator::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Resets member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 166 of file bt_navigator.cpp.

Referenced by on_configure().

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◆ on_configure()

nav2::CallbackReturn nav2_bt_navigator::BtNavigator::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configures member variables.

Initializes action servers for navigator plugins; subscription to "goal_sub"; and builds behavior tree from xml file.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 48 of file bt_navigator.cpp.

References nav2::LifecycleNode::declare_or_get_parameter(), on_cleanup(), and nav2::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2::CallbackReturn nav2_bt_navigator::BtNavigator::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivates action server.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 150 of file bt_navigator.cpp.

References nav2::LifecycleNode::destroyBond().

Referenced by on_activate().

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◆ on_shutdown()

nav2::CallbackReturn nav2_bt_navigator::BtNavigator::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in shutdown state.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 186 of file bt_navigator.cpp.

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

nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
nav2_bt_navigator/src/bt_navigator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BtNavigator()

Member Function Documentation

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()