Handles parameters and dynamic parameters for Controller Server. More...

#include <nav2_controller/include/nav2_controller/parameter_handler.hpp>

Inheritance diagram for nav2_controller::ParameterHandler:

Collaboration diagram for nav2_controller::ParameterHandler:

Public Member Functions
	ParameterHandler (const nav2::LifecycleNode::SharedPtr &node, const rclcpp::Logger &logger)
	Constructor for nav2_controller::ParameterHandler.

Public Member Functions inherited from nav2_util::ParameterHandler< Parameters >
	ParameterHandler (const nav2::LifecycleNode::SharedPtr &node, const rclcpp::Logger &logger)
	Constructor for nav2_util::ParameterHandler.

virtual	~ParameterHandler ()=default
	Destructor for nav2_util::ParameterHandler.

std::mutex &	getMutex ()
	Get the internal mutex used for thread-safe parameter access. More...

Parameters *	getParams ()
	Get a pointer to the internal parameter structure. More...

void	activate ()
	Registers callbacks for dynamic parameter handling.

void	deactivate ()
	Resets callbacks for dynamic parameter handling.

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters) override
	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) override
	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
const std::vector< std::string >	default_progress_checker_ids_ {"progress_checker"}

const std::vector< std::string >	default_progress_checker_types_

const std::vector< std::string >	default_goal_checker_ids_ {"goal_checker"}

const std::vector< std::string >	default_goal_checker_types_ {"nav2_controller::SimpleGoalChecker"}

const std::vector< std::string >	default_controller_ids_ {"FollowPath"}

const std::vector< std::string >	default_controller_types_ {"nav2_mppi_controller::MPPIController"}

const std::vector< std::string >	default_path_handler_ids_ {"PathHandler"}

const std::vector< std::string >	default_path_handler_types_

Protected Attributes inherited from nav2_util::ParameterHandler< Parameters >
nav2::LifecycleNode::WeakPtr	node_

std::mutex	mutex_

Parameters	params_

rclcpp::Logger	logger_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

Detailed Description

Handles parameters and dynamic parameters for Controller Server.

Definition at line 60 of file parameter_handler.hpp.

Member Function Documentation

◆ updateParametersCallback()

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

overrideprotectedvirtual

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.

Implements nav2_util::ParameterHandler< Parameters >.

Definition at line 179 of file parameter_handler.cpp.

◆ validateParameterUpdatesCallback()

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

overrideprotectedvirtual

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.

Implements nav2_util::ParameterHandler< Parameters >.

Definition at line 152 of file parameter_handler.cpp.

Member Data Documentation

◆ default_path_handler_types_

const std::vector<std::string> nav2_controller::ParameterHandler::default_path_handler_types_

protected

Initial value:

{

"nav2_controller::FeasiblePathHandler"}

Definition at line 98 of file parameter_handler.hpp.

◆ default_progress_checker_types_

const std::vector<std::string> nav2_controller::ParameterHandler::default_progress_checker_types_

protected

Initial value:

{

"nav2_controller::SimpleProgressChecker"}

Definition at line 91 of file parameter_handler.hpp.

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

nav2_controller/include/nav2_controller/parameter_handler.hpp
nav2_controller/src/parameter_handler.cpp

Public Member Functions

Protected Member Functions