A loopback simulator that replaces a physics simulator to create a frictionless, inertialess, and collisionless simulation environment. It accepts cmd_vel messages and publishes odometry & TF messages based on the cumulative velocities received to mimic global localization and simulation. It also accepts initialpose messages to set the initial pose of the robot. More...

#include <nav2_loopback_sim/include/nav2_loopback_sim/loopback_simulator.hpp>

Inheritance diagram for nav2_loopback_sim::LoopbackSimulator:

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Collaboration diagram for nav2_loopback_sim::LoopbackSimulator:

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Public Member Functions
	LoopbackSimulator (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Construct a LoopbackSimulator node. More...

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 DurationRepT , typename DurationT , typename CallbackT >
rclcpp::GenericTimer< CallbackT >::SharedPtr	create_timer (std::chrono::duration< DurationRepT, DurationT > period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create a sim-time-aware timer for Nav2 lifecycle nodes. 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 >::GoalReceivedCallback goal_received_callback=nullptr, 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
	Configure the node: declare parameters, create pubs/subs/timers.

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activate the node: start publishing.

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivate the node: stop timers, reset cmd_vel.

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Cleanup the node: release all resources.

nav2::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Shutdown the node.

void	cmdVelCallback (const geometry_msgs::msg::Twist::ConstSharedPtr &msg)
	Callback for incoming cmd_vel (unstamped Twist)

void	cmdVelStampedCallback (const geometry_msgs::msg::TwistStamped::ConstSharedPtr &msg)
	Callback for incoming cmd_vel (stamped TwistStamped)

void	initialPoseCallback (const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr &msg)
	Callback for incoming initial pose.

void	setupTimerCallback ()
	Periodic setup callback: publishes identity TFs and fetches map.

void	timerCallback ()
	Main update callback: integrates cmd_vel and publishes TF.

void	odomTimerCallback ()
	Periodic odometry publishing callback.

void	publishLaserScan ()
	Publish a simulated laser scan from the map.

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate dynamic parameter changes (pre-set callback) More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply validated dynamic parameter changes (post-set callback) More...

void	getBaseToLaserTf ()
	Look up the static transform from base to laser frame.

void	getMap ()
	Request the map from the map server.

void	publishTransforms (geometry_msgs::msg::TransformStamped &map_to_odom, geometry_msgs::msg::TransformStamped &odom_to_base_link)
	Publish map->odom and odom->base_link transforms.

void	publishOdometry (const geometry_msgs::msg::TransformStamped &odom_to_base_link)
	Publish nav_msgs::Odometry from the current odom->base transform.

std::tuple< double, double, double >	getLaserPose ()
	Compute the laser pose in the map frame.

void	getLaserScan (int num_samples, sensor_msgs::msg::LaserScan &scan_msg)
	Raycast the map to fill a LaserScan message. More...

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

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Static Protected Member Functions
static geometry_msgs::msg::Quaternion	addYawToQuat (const geometry_msgs::msg::Quaternion &quaternion, double yaw_to_add)
	Add a yaw rotation to a quaternion. More...

Protected Attributes
double	update_dur_

std::string	base_frame_id_

std::string	map_frame_id_

std::string	odom_frame_id_

std::string	scan_frame_id_

double	odom_publish_dur_

double	scan_publish_dur_

bool	publish_map_odom_tf_

double	scan_range_min_

double	scan_range_max_

double	scan_angle_min_

double	scan_angle_max_

double	scan_angle_increment_

bool	use_inf_

double	scan_noise_std_

bool	publish_scan_

bool	publish_clock_

double	speed_factor_

std::optional< geometry_msgs::msg::Twist >	curr_cmd_vel_

rclcpp::Time	curr_cmd_vel_time_

bool	has_initial_pose_ {false}

geometry_msgs::msg::Pose	initial_pose_

bool	has_map_ {false}

nav_msgs::msg::OccupancyGrid	map_

bool	has_base_to_laser_ {false}

tf2::Transform	tf_base_to_laser_

std::mt19937	rng_ {std::random_device{}()}

geometry_msgs::msg::TransformStamped	t_map_to_odom_

geometry_msgs::msg::TransformStamped	t_odom_to_base_link_

nav2::TransformBroadcaster::SharedPtr	tf_broadcaster_

nav2::TransformBuffer::SharedPtr	tf_buffer_

nav2::TransformListener::SharedPtr	tf_listener_

nav2::Subscription< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr	initial_pose_sub_

std::unique_ptr< nav2_util::TwistSubscriber >	cmd_vel_sub_

nav2::Publisher< nav_msgs::msg::Odometry >::SharedPtr	odom_pub_

nav2::Publisher< sensor_msgs::msg::LaserScan >::SharedPtr	scan_pub_

nav2::ServiceClient< nav_msgs::srv::GetMap >::SharedPtr	map_client_

rclcpp::TimerBase::SharedPtr	setup_timer_

rclcpp::TimerBase::SharedPtr	timer_

rclcpp::TimerBase::SharedPtr	odom_timer_

rclcpp::TimerBase::SharedPtr	scan_timer_

std::unique_ptr< ClockPublisher >	clock_publisher_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	param_validator_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	param_updater_

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

A loopback simulator that replaces a physics simulator to create a frictionless, inertialess, and collisionless simulation environment. It accepts cmd_vel messages and publishes odometry & TF messages based on the cumulative velocities received to mimic global localization and simulation. It also accepts initialpose messages to set the initial pose of the robot.

Definition at line 59 of file loopback_simulator.hpp.

Constructor & Destructor Documentation

◆ LoopbackSimulator()

nav2_loopback_sim::LoopbackSimulator::LoopbackSimulator ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Construct a LoopbackSimulator node.

Parameters

options Node options

Definition at line 34 of file loopback_simulator.cpp.

Member Function Documentation

◆ addYawToQuat()

geometry_msgs::msg::Quaternion nav2_loopback_sim::LoopbackSimulator::addYawToQuat	(	const geometry_msgs::msg::Quaternion &	quaternion,
		double	yaw_to_add
	)

staticprotected

Add a yaw rotation to a quaternion.

Parameters

quaternion	Input quaternion
yaw_to_add	Yaw angle to add in radians

Returns: Resulting quaternion

Definition at line 423 of file loopback_simulator.cpp.

Referenced by timerCallback().

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◆ getLaserScan()

void nav2_loopback_sim::LoopbackSimulator::getLaserScan	(	int	num_samples,
		sensor_msgs::msg::LaserScan &	scan_msg
	)

protected

Raycast the map to fill a LaserScan message.

Parameters

num_samples	Number of ray samples
scan_msg	Output scan message to populate

Definition at line 452 of file loopback_simulator.cpp.

References getLaserPose().

Referenced by publishLaserScan().

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◆ updateParametersCallback()

void nav2_loopback_sim::LoopbackSimulator::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Apply validated dynamic parameter changes (post-set callback)

Parameters

parameters The parameters that were set

Definition at line 535 of file loopback_simulator.cpp.

Referenced by on_configure().

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◆ validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_loopback_sim::LoopbackSimulator::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Validate dynamic parameter changes (pre-set callback)

Parameters

parameters The parameters being set

Returns: Result indicating whether the parameter change is accepted

Definition at line 517 of file loopback_simulator.cpp.

Referenced by on_configure().

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

nav2_loopback_sim/include/nav2_loopback_sim/loopback_simulator.hpp
nav2_loopback_sim/src/loopback_simulator.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LoopbackSimulator()

Member Function Documentation

◆ addYawToQuat()

◆ getLaserScan()

◆ updateParametersCallback()

◆ validateParameterUpdatesCallback()