A route operation base class to trigger a service event at a node or edge. This is meant to be named accordingly to the event of query in the parameter file (e.g. OpenDoor, CallElevator). Thus, a single RouteOperationClient implementation can support many different operation instances calling different services. The template type may be overridden for any applications. It may be set up to either trigger a single service if the service_name is set in the parameter file at launch for all calls or trigger different services depending on the service_name set in the metadata of the node or edge operation given. More...

#include <nav2_route/include/nav2_route/plugins/route_operation_client.hpp>

Inheritance diagram for nav2_route::RouteOperationClient< SrvT >:

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Collaboration diagram for nav2_route::RouteOperationClient< SrvT >:

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Public Member Functions
	RouteOperationClient ()=default
	Constructor.

virtual	~RouteOperationClient ()=default
	destructor

virtual void	configureEvent (const nav2::LifecycleNode::SharedPtr, const std::string &)
	Configure client with any necessary parameters, etc. May change or reset `main_srv_name_` variable to control main service name and existence.

virtual void	populateRequest (std::shared_ptr< typename SrvT::Request >, const Metadata *)
	Populate request with details for service, if necessary.

virtual OperationResult	processResponse (std::shared_ptr< typename SrvT::Response >)
	Process response from service to populate a result, if necessary.

Public Member Functions inherited from nav2_route::RouteOperation
	RouteOperation ()=default
	Constructor.

virtual	~RouteOperation ()=default
	Destructor.

Protected Member Functions
void	configure (const nav2::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >, const std::string &name) final
	Configure.

OperationResult	perform (NodePtr node_achieved, EdgePtr, EdgePtr, const Route &, const geometry_msgs::msg::PoseStamped &, const Metadata *mdata) final
	The main operation to call a service of arbitrary type and arbitrary name. More...

std::string	getName () override
	Get name of the plugin for parameter scope mapping. More...

RouteOperationType	processType () final
	Indication that the adjust speed limit route operation is performed on all state changes. More...

Protected Attributes
std::string	name_

std::string	main_srv_name_

std::atomic_bool	reroute_

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

nav2::ServiceClient< SrvT >::SharedPtr	main_client_

nav2::LifecycleNode::WeakPtr	node_

Additional Inherited Members
Public Types inherited from nav2_route::RouteOperation
using	Ptr = std::shared_ptr< nav2_route::RouteOperation >

Detailed Description

template<typename SrvT>
class nav2_route::RouteOperationClient< SrvT >

A route operation base class to trigger a service event at a node or edge. This is meant to be named accordingly to the event of query in the parameter file (e.g. OpenDoor, CallElevator). Thus, a single RouteOperationClient implementation can support many different operation instances calling different services. The template type may be overridden for any applications. It may be set up to either trigger a single service if the service_name is set in the parameter file at launch for all calls or trigger different services depending on the service_name set in the metadata of the node or edge operation given.

For example: OpenDoor<nav2_msgs::srv::OpenDoor> RouteOperationClient instance can open a door at service "/open_door" set in the parameter file that it calls every time the OpenDoor operation is triggered in the graph (ceneralized service). Or the OpenDoor instance can call any service whose service_name is set in the operation's metadata (e.g. "/open_door1", "/open_door2", ...) corresponding to other instances of similar use. In this case, the specification of "OpenDoor" operation is less to do with the service name and more to do with the type of service template (nav2_msgs) used to populate the request (decentralized). This allows for massive reuse of a single plugin implementation in centralized or decentralized applications.

The templated nature of this node makes it a base class for any such service containing additional request or response fields by implementing the virtual interfaces configureEvent, populateRequest, processResponse appropriately. The std_srvs/Trigger example TriggerEvent can be thought of as a useful entry level demo and useful working primitive

Definition at line 62 of file route_operation_client.hpp.

Member Function Documentation

◆ getName()

template<typename SrvT >

std::string nav2_route::RouteOperationClient< SrvT >::getName ( )

inlineoverrideprotectedvirtual

Get name of the plugin for parameter scope mapping.

Returns: Name

Implements nav2_route::RouteOperation.

Definition at line 187 of file route_operation_client.hpp.

◆ perform()

template<typename SrvT >

OperationResult nav2_route::RouteOperationClient< SrvT >::perform	(	NodePtr	node_achieved,
		EdgePtr	,
		EdgePtr	,
		const Route &	,
		const geometry_msgs::msg::PoseStamped &	,
		const Metadata *	mdata
	)

inlinefinalprotectedvirtual

The main operation to call a service of arbitrary type and arbitrary name.

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