This plugin manages the global plan by clipping it to the local segment, typically bounded by the local costmap size and transforming the resulting path into the odom frame. More...

#include <nav2_controller/include/nav2_controller/plugins/feasible_path_handler.hpp>

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Public Member Functions
	FeasiblePathHandler ()=default
	Construct a new Feasible Path Handler object.

	~FeasiblePathHandler ()
	Destroy the Feasible Path Handler object.

void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const rclcpp::Logger &logger, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros, nav2::TransformBuffer::SharedPtr tf) override
	Initialize parameters. More...

void	setPlan (const nav_msgs::msg::Path &path) override
	Set new reference plan. More...

nav2_core::PathSegment	findPlanSegment (const geometry_msgs::msg::PoseStamped &pose) override
	Determines the portion of the global plan to be used for local control. This function locates the start and end iterators of the global plan segment that is relevant for controller computation based on the robot's current pose and local costmap. More...

nav_msgs::msg::Path	transformLocalPlan (const nav2_core::PathIterator &closest_point, const nav2_core::PathIterator &pruned_plan_end) override
	Transforms a predefined segment of the global plan into the costmap global frame. More...

geometry_msgs::msg::PoseStamped	getTransformedGoal (const builtin_interfaces::msg::Time &stamp) override
	Get the global goal pose transformed to the costmap global frame. More...

nav_msgs::msg::Path	getPlan ()
	Gets the global plan. More...

Protected Member Functions
geometry_msgs::msg::PoseStamped	transformToGlobalPlanFrame (const geometry_msgs::msg::PoseStamped &pose)
	Transform a pose to the global reference frame. More...

double	getCostmapMaxExtent () const

bool	isWithinInversionTolerances (const geometry_msgs::msg::PoseStamped &robot_pose)
	Check if the robot pose is within the set inversion tolerances. More...

void	prunePlan (nav_msgs::msg::Path &plan, const nav2_core::PathIterator end)
	Prune a path to only interesting portions. More...

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

Protected Attributes
std::mutex	mutex_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

nav2::LifecycleNode::WeakPtr	node_

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

std::string	plugin_name_

nav2::TransformBuffer::SharedPtr	tf_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

nav_msgs::msg::Path	global_plan_

nav_msgs::msg::Path	global_plan_up_to_constraint_

geometry_msgs::msg::PoseStamped	global_pose_

unsigned int	constraint_locale_ {0u}

bool	reject_unit_path_

bool	enforce_path_inversion_

bool	enforce_path_rotation_

double	max_robot_pose_search_dist_

double	transform_tolerance_

double	prune_distance_

float	inversion_xy_tolerance_

float	inversion_yaw_tolerance_

float	minimum_rotation_angle_

Additional Inherited Members
Public Types inherited from nav2_core::PathHandler
typedef std::shared_ptr< nav2_core::PathHandler >	Ptr

Detailed Description

This plugin manages the global plan by clipping it to the local segment, typically bounded by the local costmap size and transforming the resulting path into the odom frame.

Definition at line 37 of file feasible_path_handler.hpp.

Member Function Documentation

◆ findPlanSegment()

nav2_core::PathSegment nav2_controller::FeasiblePathHandler::findPlanSegment ( const geometry_msgs::msg::PoseStamped & pose )

overridevirtual

Determines the portion of the global plan to be used for local control. This function locates the start and end iterators of the global plan segment that is relevant for controller computation based on the robot's current pose and local costmap.

Parameters

pose	Robot pose in odom frame

Returns: PathSegment A pair of iterators defining the start and end of the selected plan segment.

Implements nav2_core::PathHandler.

Definition at line 163 of file feasible_path_handler.cpp.

References transformToGlobalPlanFrame().

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◆ getCostmapMaxExtent()

double nav2_controller::FeasiblePathHandler::getCostmapMaxExtent ( ) const

protected

Get the greatest extent of the costmap in meters from the center.

Returns: max of distance from center in meters to edge of costmap

Definition at line 99 of file feasible_path_handler.cpp.

Referenced by initialize().

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◆ getPlan()

nav_msgs::msg::Path nav2_controller::FeasiblePathHandler::getPlan ( )

inline

Gets the global plan.

Returns: The global plan

Definition at line 104 of file feasible_path_handler.hpp.

◆ getTransformedGoal()

geometry_msgs::msg::PoseStamped nav2_controller::FeasiblePathHandler::getTransformedGoal ( const builtin_interfaces::msg::Time & stamp )

overridevirtual

Get the global goal pose transformed to the costmap global frame.

Parameters

stamp Time to get the goal pose at

Returns: Transformed goal pose

Implements nav2_core::PathHandler.

Definition at line 256 of file feasible_path_handler.cpp.

◆ initialize()

void nav2_controller::FeasiblePathHandler::initialize	(	const nav2::LifecycleNode::WeakPtr &	parent,
		const rclcpp::Logger &	logger,
		const std::string &	plugin_name,
		const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros,
		nav2::TransformBuffer::SharedPtr	tf
	)

overridevirtual

Initialize parameters.

Parameters

parent	Lifecycle node pointer
logger	Node logging interface
plugin_name	Name of the plugin
costmap_ros	Costmap2DROS object
tf	Shared ptr of TF2 buffer

Implements nav2_core::PathHandler.

Definition at line 47 of file feasible_path_handler.cpp.

References getCostmapMaxExtent(), updateParametersCallback(), and validateParameterUpdatesCallback().

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◆ isWithinInversionTolerances()

bool nav2_controller::FeasiblePathHandler::isWithinInversionTolerances ( const geometry_msgs::msg::PoseStamped & robot_pose )

protected

Check if the robot pose is within the set inversion tolerances.

Parameters

robot_pose Robot's current pose to check

Returns: bool If the robot pose is within the set inversion tolerances

Definition at line 112 of file feasible_path_handler.cpp.

Referenced by transformLocalPlan().

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◆ prunePlan()

void nav2_controller::FeasiblePathHandler::prunePlan	(	nav_msgs::msg::Path &	plan,
		const nav2_core::PathIterator	end
	)

protected

Prune a path to only interesting portions.

Parameters

plan	Plan to prune
end	Final path iterator

Definition at line 107 of file feasible_path_handler.cpp.

Referenced by transformLocalPlan().

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◆ setPlan()

void nav2_controller::FeasiblePathHandler::setPlan ( const nav_msgs::msg::Path & path )

overridevirtual

Set new reference plan.

Parameters

Path	Path to use

Implements nav2_core::PathHandler.

Definition at line 129 of file feasible_path_handler.cpp.

◆ transformLocalPlan()

nav_msgs::msg::Path nav2_controller::FeasiblePathHandler::transformLocalPlan	(	const nav2_core::PathIterator &	closest_point,
		const nav2_core::PathIterator &	pruned_plan_end
	)

overridevirtual

Transforms a predefined segment of the global plan into the costmap global frame.

Parameters

closest_point	Iterator to the starting pose of the path segment.
pruned_plan_end	Iterator to the ending pose of the path segment.

Returns: nav_msgs::msg::Path The transformed local plan segment in the costmap global frame.

Implements nav2_core::PathHandler.

Definition at line 203 of file feasible_path_handler.cpp.

References isWithinInversionTolerances(), and prunePlan().

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◆ transformToGlobalPlanFrame()

geometry_msgs::msg::PoseStamped nav2_controller::FeasiblePathHandler::transformToGlobalPlanFrame ( const geometry_msgs::msg::PoseStamped & pose )

protected

Transform a pose to the global reference frame.

Parameters

pose	Current pose

Returns: output poose in global reference frame

Definition at line 140 of file feasible_path_handler.cpp.

Referenced by findPlanSegment().

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◆ updateParametersCallback()

void nav2_controller::FeasiblePathHandler::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters List of parameters that have been updated.

Definition at line 300 of file feasible_path_handler.cpp.

Referenced by initialize().

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◆ validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::FeasiblePathHandler::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters List of parameters that are being updated.

Returns: rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 275 of file feasible_path_handler.cpp.

Referenced by initialize().

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

nav2_controller/include/nav2_controller/plugins/feasible_path_handler.hpp
nav2_controller/plugins/feasible_path_handler.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ findPlanSegment()

◆ getCostmapMaxExtent()

◆ getPlan()

◆ getTransformedGoal()

◆ initialize()

◆ isWithinInversionTolerances()

◆ prunePlan()

◆ setPlan()

◆ transformLocalPlan()

◆ transformToGlobalPlanFrame()

◆ updateParametersCallback()

◆ validateParameterUpdatesCallback()