Goal Checker plugin that checks the position difference and velocity. More...

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

Inheritance diagram for nav2_controller::StoppedGoalChecker:

Collaboration diagram for nav2_controller::StoppedGoalChecker:

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Public Member Functions
void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Initialize any parameters from the NodeHandle. More...

bool	isGoalReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity) override
	Check whether the goal should be considered reached. More...

bool	getTolerances (geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance) override
	Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y). More...

Public Member Functions inherited from nav2_controller::SimpleGoalChecker
void	reset () override

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Member Functions inherited from nav2_controller::SimpleGoalChecker
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Attributes
double	rot_stopped_velocity_

double	trans_stopped_velocity_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

std::string	plugin_name_

Protected Attributes inherited from nav2_controller::SimpleGoalChecker
double	xy_goal_tolerance_

double	yaw_goal_tolerance_

bool	stateful_

bool	check_xy_

double	xy_goal_tolerance_sq_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

std::string	plugin_name_

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

Detailed Description

Goal Checker plugin that checks the position difference and velocity.

Definition at line 53 of file stopped_goal_checker.hpp.

Member Function Documentation

◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_controller::StoppedGoalChecker::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

parameters list of changed parameters

Definition at line 118 of file stopped_goal_checker.cpp.

◆ getTolerances()

bool nav2_controller::StoppedGoalChecker::getTolerances	(	geometry_msgs::msg::Pose &	pose_tolerance,
		geometry_msgs::msg::Twist &	vel_tolerance
	)

overridevirtual

Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y).

Parameters

pose_tolerance	The tolerance used for checking in Pose fields
vel_tolerance	The tolerance used for checking velocity fields

Returns: True if the tolerances are valid to use

Reimplemented from nav2_controller::SimpleGoalChecker.

Definition at line 96 of file stopped_goal_checker.cpp.

◆ initialize()

void nav2_controller::StoppedGoalChecker::initialize	(	const nav2::LifecycleNode::WeakPtr &	parent,
		const std::string &	plugin_name,
		const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros
	)

overridevirtual

Initialize any parameters from the NodeHandle.

Parameters

parent Node pointer for grabbing parameters

Reimplemented from nav2_controller::SimpleGoalChecker.

Definition at line 58 of file stopped_goal_checker.cpp.

◆ isGoalReached()

bool nav2_controller::StoppedGoalChecker::isGoalReached	(	const geometry_msgs::msg::Pose &	query_pose,
		const geometry_msgs::msg::Pose &	goal_pose,
		const geometry_msgs::msg::Twist &	velocity
	)

overridevirtual

Check whether the goal should be considered reached.

Parameters

query_pose	The pose to check
goal_pose	The pose to check against
velocity	The robot's current velocity

Returns: True if goal is reached

Reimplemented from nav2_controller::SimpleGoalChecker.

Definition at line 83 of file stopped_goal_checker.cpp.

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

nav2_controller/include/nav2_controller/plugins/stopped_goal_checker.hpp
nav2_controller/plugins/stopped_goal_checker.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ dynamicParametersCallback()

◆ getTolerances()

◆ initialize()

◆ isGoalReached()