A route operation to process on state changes to evaluate if speed limits should be adjusted based on graph edge metadata. More...
#include <nav2_route/include/nav2_route/plugins/route_operations/adjust_speed_limit.hpp>
Public Member Functions | |
| AdjustSpeedLimit ()=default | |
| Constructor. | |
| virtual | ~AdjustSpeedLimit ()=default |
| destructor | |
| void | configure (const nav2::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, const std::string &name) override |
| Configure. | |
| std::string | getName () override |
| Get name of the plugin for parameter scope mapping. More... | |
| RouteOperationType | processType () override |
| Indication that the adjust speed limit route operation is performed on all state changes. More... | |
| OperationResult | perform (NodePtr node_achieved, EdgePtr edge_entered, EdgePtr edge_exited, const Route &route, const geometry_msgs::msg::PoseStamped &curr_pose, const Metadata *mdata=nullptr) override |
| The main speed limit operation to adjust the maximum speed of the vehicle. More... | |
 Public Member Functions inherited from nav2_route::RouteOperation | |
| RouteOperation ()=default | |
| Constructor. | |
| virtual | ~RouteOperation ()=default |
| Destructor. | |
Protected Attributes | |
| std::string | name_ |
| std::string | speed_tag_ |
| rclcpp::Logger | logger_ {rclcpp::get_logger("AdjustSpeedLimit")} |
| nav2::Publisher< nav2_msgs::msg::SpeedLimit >::SharedPtr | speed_limit_pub_ |
Additional Inherited Members | |
| Public Types inherited from nav2_route::RouteOperation | |
| using | Ptr = std::shared_ptr< nav2_route::RouteOperation > |
Detailed Description
A route operation to process on state changes to evaluate if speed limits should be adjusted based on graph edge metadata.
Definition at line 35 of file adjust_speed_limit.hpp.
Member Function Documentation
◆ getName()
|
inlineoverridevirtual |
Get name of the plugin for parameter scope mapping.
- Returns
- Name
Implements nav2_route::RouteOperation.
Definition at line 60 of file adjust_speed_limit.hpp.
Referenced by configure().
◆ perform()
|
overridevirtual |
The main speed limit operation to adjust the maximum speed of the vehicle.
- Parameters
-
mdata Metadata corresponding to the operation in the navigation graph. If metadata is invalid or irrelevant, a nullptr is given node_achieved Node achieved, for additional context edge_entered Edge entered by node achievement, for additional context edge_exited Edge exited by node achievement, for additional context route Current route being tracked in full, for additional context curr_pose Current robot pose in the route frame, for additional context
- Returns
- Whether to perform rerouting and report blocked edges in that case
Implements nav2_route::RouteOperation.
Definition at line 45 of file adjust_speed_limit.cpp.
◆ processType()
|
inlineoverridevirtual |
Indication that the adjust speed limit route operation is performed on all state changes.
- Returns
- The type of operation (on graph call, on status changes, or constantly)
Reimplemented from nav2_route::RouteOperation.
Definition at line 67 of file adjust_speed_limit.hpp.
The documentation for this class was generated from the following files:
- nav2_route/include/nav2_route/plugins/route_operations/adjust_speed_limit.hpp
- nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp
