Collision Monitor ROS2 node. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp>

Inheritance diagram for nav2_collision_monitor::CollisionMonitor:

Collaboration diagram for nav2_collision_monitor::CollisionMonitor:

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Public Member Functions
	CollisionMonitor (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor for the nav2_collision_monitor::CollisionMonitor. More...

	~CollisionMonitor ()
	Destructor for the nav2_collision_monitor::CollisionMonitor.

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 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
	: Initializes and obtains ROS-parameters, creates main subscribers and publishers, creates polygons and data sources objects More...

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	: Activates LifecyclePublishers, polygons and main processor, creates bond connection More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	: Deactivates LifecyclePublishers, polygons and main processor, destroys bond connection More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	: Resets all subscribers/publishers, polygons/data sources arrays More...

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

void	cmdVelInCallbackStamped (geometry_msgs::msg::TwistStamped::SharedPtr msg)
	Callback for input cmd_vel. More...

void	cmdVelInCallbackUnstamped (geometry_msgs::msg::Twist::SharedPtr msg)

void	publishVelocity (const Action &robot_action, const std_msgs::msg::Header &header)
	Publishes output cmd_vel. If robot was stopped more than stop_pub_timeout_ seconds, quit to publish 0-velocity. More...

bool	getParameters (std::string &cmd_vel_in_topic, std::string &cmd_vel_out_topic, std::string &state_topic)
	Supporting routine obtaining all ROS-parameters. More...

bool	configurePolygons (const std::string &base_frame_id, const tf2::Duration &transform_tolerance)
	Supporting routine creating and configuring all polygons. More...

bool	configureSources (const std::string &base_frame_id, const std::string &odom_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Supporting routine creating and configuring all data sources. More...

void	process (const Velocity &cmd_vel_in, const std_msgs::msg::Header &header)
	Main processing routine. More...

bool	processStopSlowdownLimit (const std::shared_ptr< Polygon > polygon, const std::unordered_map< std::string, std::vector< Point >> &sources_collision_points_map, const Velocity &velocity, Action &robot_action) const
	Processes the polygon of STOP, SLOWDOWN and LIMIT action type. More...

bool	processApproach (const std::shared_ptr< Polygon > polygon, const std::unordered_map< std::string, std::vector< Point >> &sources_collision_points_map, const Velocity &velocity, Action &robot_action) const
	Processes APPROACH action type. More...

void	notifyActionState (const Action &robot_action, const std::shared_ptr< Polygon > action_polygon) const
	Log and publish current robot action and polygon. More...

void	publishPolygons () const
	Polygons publishing routine. Made for visualization.

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

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
	TF buffer.

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_
	TF listener.

std::vector< std::shared_ptr< Polygon > >	polygons_
	Polygons array.

std::vector< std::shared_ptr< Source > >	sources_
	Data sources array.

std::unique_ptr< nav2_util::TwistSubscriber >	cmd_vel_in_sub_
	Input cmd_vel subscriber.

std::unique_ptr< nav2_util::TwistPublisher >	cmd_vel_out_pub_
	Output cmd_vel publisher.

nav2::Publisher< nav2_msgs::msg::CollisionMonitorState >::SharedPtr	state_pub_
	CollisionMonitor state publisher.

nav2::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	collision_points_marker_pub_
	Collision points marker publisher.

bool	process_active_
	Whether main routine is active.

Action	robot_action_prev_
	Previous robot action.

rclcpp::Time	stop_stamp_
	Latest timestamp when robot has 0-velocity.

rclcpp::Duration	stop_pub_timeout_
	Timeout after which 0-velocity ceases to be published.

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

Collision Monitor ROS2 node.

Definition at line 53 of file collision_monitor_node.hpp.

Constructor & Destructor Documentation

◆ CollisionMonitor()

nav2_collision_monitor::CollisionMonitor::CollisionMonitor ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor for the nav2_collision_monitor::CollisionMonitor.

Parameters

options Additional options to control creation of the node.

Definition at line 31 of file collision_monitor_node.cpp.

Member Function Documentation

◆ cmdVelInCallbackStamped()

void nav2_collision_monitor::CollisionMonitor::cmdVelInCallbackStamped ( geometry_msgs::msg::TwistStamped::SharedPtr msg )

protected

Callback for input cmd_vel.

Parameters

msg	Input cmd_vel message

Definition at line 187 of file collision_monitor_node.cpp.

◆ configurePolygons()

bool nav2_collision_monitor::CollisionMonitor::configurePolygons	(	const std::string &	base_frame_id,
		const tf2::Duration &	transform_tolerance
	)

protected

Supporting routine creating and configuring all polygons.

Parameters

base_frame_id	Robot base frame ID
transform_tolerance	Transform tolerance

Returns: True if all polygons were configured successfully or false in failure case

Definition at line 288 of file collision_monitor_node.cpp.

◆ configureSources()

bool nav2_collision_monitor::CollisionMonitor::configureSources	(	const std::string &	base_frame_id,
		const std::string &	odom_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

protected

Supporting routine creating and configuring all data sources.

Parameters

base_frame_id	Robot base frame ID
odom_frame_id	Odometry frame ID. Used as global frame to get source->base time interpolated transform.
transform_tolerance	Transform tolerance
source_timeout	Maximum time interval in which data is considered valid
base_shift_correction	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time

Returns: True if all sources were configured successfully or false in failure case

Definition at line 338 of file collision_monitor_node.cpp.

◆ getParameters()

bool nav2_collision_monitor::CollisionMonitor::getParameters	(	std::string &	cmd_vel_in_topic,
		std::string &	cmd_vel_out_topic,
		std::string &	state_topic
	)

protected

Supporting routine obtaining all ROS-parameters.

Parameters

cmd_vel_in_topic	Output name of cmd_vel_in topic
cmd_vel_out_topic	Output name of cmd_vel_out topic is required.
state_topic	topic name for publishing collision monitor state

Returns: True if all parameters were obtained or false in failure case

Definition at line 229 of file collision_monitor_node.cpp.

◆ notifyActionState()

void nav2_collision_monitor::CollisionMonitor::notifyActionState	(	const Action &	robot_action,
		const std::shared_ptr< Polygon >	action_polygon
	)		const

protected

Log and publish current robot action and polygon.

Parameters

robot_action	Robot action to notify
action_polygon	Pointer to a polygon causing a selected action

Definition at line 604 of file collision_monitor_node.cpp.

◆ on_activate()

nav2::CallbackReturn nav2_collision_monitor::CollisionMonitor::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

: Activates LifecyclePublishers, polygons and main processor, creates bond connection

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 102 of file collision_monitor_node.cpp.

◆ on_cleanup()

nav2::CallbackReturn nav2_collision_monitor::CollisionMonitor::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

: Resets all subscribers/publishers, polygons/data sources arrays

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 161 of file collision_monitor_node.cpp.

◆ on_configure()

nav2::CallbackReturn nav2_collision_monitor::CollisionMonitor::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

: Initializes and obtains ROS-parameters, creates main subscribers and publishers, creates polygons and data sources objects

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 45 of file collision_monitor_node.cpp.

◆ on_deactivate()

nav2::CallbackReturn nav2_collision_monitor::CollisionMonitor::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

: Deactivates LifecyclePublishers, polygons and main processor, destroys bond connection

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 132 of file collision_monitor_node.cpp.

◆ on_shutdown()

nav2::CallbackReturn nav2_collision_monitor::CollisionMonitor::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called in shutdown state.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 180 of file collision_monitor_node.cpp.

◆ process()

void nav2_collision_monitor::CollisionMonitor::process	(	const Velocity &	cmd_vel_in,
		const std_msgs::msg::Header &	header
	)

protected

Main processing routine.

Parameters

cmd_vel_in	Input desired robot velocity
header	Twist header

Definition at line 405 of file collision_monitor_node.cpp.

◆ processApproach()

bool nav2_collision_monitor::CollisionMonitor::processApproach	(	const std::shared_ptr< Polygon >	polygon,
		const std::unordered_map< std::string, std::vector< Point >> &	sources_collision_points_map,
		const Velocity &	velocity,
		Action &	robot_action
	)		const

protected

Processes APPROACH action type.

Parameters

polygon	Polygon to process
sources_collision_points_map	Map containing source name as key and array of source's 2D obstacle points as value
velocity	Desired robot velocity
robot_action	Output processed robot action

Returns: True if returned action is caused by current polygon, otherwise false

Definition at line 575 of file collision_monitor_node.cpp.

◆ processStopSlowdownLimit()

bool nav2_collision_monitor::CollisionMonitor::processStopSlowdownLimit	(	const std::shared_ptr< Polygon >	polygon,
		const std::unordered_map< std::string, std::vector< Point >> &	sources_collision_points_map,
		const Velocity &	velocity,
		Action &	robot_action
	)		const

protected

Processes the polygon of STOP, SLOWDOWN and LIMIT action type.

Parameters

polygon	Polygon to process
sources_collision_points_map	Map containing source name as key and array of source's 2D obstacle points as value
velocity	Desired robot velocity
robot_action	Output processed robot action

Returns: True if returned action is caused by current polygon, otherwise false

Definition at line 516 of file collision_monitor_node.cpp.

◆ publishVelocity()

void nav2_collision_monitor::CollisionMonitor::publishVelocity	(	const Action &	robot_action,
		const std_msgs::msg::Header &	header
	)

protected

Publishes output cmd_vel. If robot was stopped more than stop_pub_timeout_ seconds, quit to publish 0-velocity.

Parameters

robot_action	Robot action to publish
header	TwistStamped header to use

Definition at line 205 of file collision_monitor_node.cpp.

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

nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp
nav2_collision_monitor/src/collision_monitor_node.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionMonitor()

Member Function Documentation

◆ cmdVelInCallbackStamped()

◆ configurePolygons()

◆ configureSources()

◆ getParameters()

◆ notifyActionState()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ process()

◆ processApproach()

◆ processStopSlowdownLimit()

◆ publishVelocity()