An action server implements a Navigation Route-Graph planner to compliment free-space planning in the Planner Server. More...

#include <nav2_route/include/nav2_route/route_server.hpp>

Inheritance diagram for nav2_route::RouteServer:

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Collaboration diagram for nav2_route::RouteServer:

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Public Types
using	ComputeRoute = nav2_msgs::action::ComputeRoute

using	ComputeRouteGoal = ComputeRoute::Goal

using	ComputeRouteResult = ComputeRoute::Result

using	ComputeRouteServer = nav2::SimpleActionServer< ComputeRoute >

using	ComputeAndTrackRoute = nav2_msgs::action::ComputeAndTrackRoute

using	ComputeAndTrackRouteGoal = ComputeAndTrackRoute::Goal

using	ComputeAndTrackRouteFeedback = ComputeAndTrackRoute::Feedback

using	ComputeAndTrackRouteResult = ComputeAndTrackRoute::Result

using	ComputeAndTrackRouteServer = nav2::SimpleActionServer< ComputeAndTrackRoute >

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 >

Public Member Functions
	RouteServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_route::RouteServer. More...

	~RouteServer ()=default
	A destructor for nav2_route::RouteServer.

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 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 ActionT >
nav2::SimpleActionServer< ActionT >::SharedPtr	create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, 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 member variables and initializes planner. More...

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Activate member variables. More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Deactivate member variables. More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Reset member variables. More...

nav2::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in shutdown state. More...

void	computeRoute ()
	Main route action server callbacks for computing and tracking a route.

void	computeAndTrackRoute ()

template<typename GoalT >
Route	findRoute (const std::shared_ptr< const GoalT > goal, ReroutingState &rerouting_info=ReroutingState())
	Abstract method combining finding the starting/ending nodes and the route planner to find the Node locations of interest and route to the goal. More...

template<typename ActionT >
void	processRouteRequest (typename nav2::SimpleActionServer< ActionT >::SharedPtr &action_server)
	Main processing called by both action server callbacks to centralize the great deal of shared code between them.

rclcpp::Duration	findPlanningDuration (const rclcpp::Time &start_time)
	Find the planning duration of the request and log warnings. More...

template<typename ActionT >
bool	isRequestValid (typename nav2::SimpleActionServer< ActionT >::SharedPtr &action_server)
	Find the routing request is valid (action server OK and not cancelled) More...

void	populateActionResult (std::shared_ptr< ComputeRoute::Result > result, const Route &route, const nav_msgs::msg::Path &path, const rclcpp::Duration &planning_duration)
	Populate result for compute route action. More...

void	populateActionResult (std::shared_ptr< ComputeAndTrackRoute::Result >, const Route &, const nav_msgs::msg::Path &, const rclcpp::Duration &)
	Populate result for compute and track route action. More...

void	setRouteGraph (const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Request > request, std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Response > response)
	The service callback to set a new route graph. More...

template<typename GoalT >
void	exceptionWarning (const std::shared_ptr< const GoalT > goal, const std::exception &ex)
	Log exception warnings, templated by action message type. More...

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

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
ComputeRouteServer::SharedPtr	compute_route_server_

ComputeAndTrackRouteServer::SharedPtr	compute_and_track_route_server_

std::shared_ptr< tf2_ros::Buffer >	tf_

std::shared_ptr< tf2_ros::TransformListener >	transform_listener_

nav2::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	graph_vis_publisher_

nav2::ServiceServer< nav2_msgs::srv::SetRouteGraph >::SharedPtr	set_graph_service_

std::shared_ptr< GraphLoader >	graph_loader_

std::shared_ptr< RoutePlanner >	route_planner_

std::shared_ptr< RouteTracker >	route_tracker_

std::shared_ptr< PathConverter >	path_converter_

std::shared_ptr< GoalIntentExtractor >	goal_intent_extractor_

std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_subscriber_

Graph	graph_

GraphToIDMap	id_to_graph_map_

std::string	route_frame_

std::string	base_frame_

double	max_planning_time_

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_

Detailed Description

An action server implements a Navigation Route-Graph planner to compliment free-space planning in the Planner Server.

Definition at line 55 of file route_server.hpp.

Constructor & Destructor Documentation

◆ RouteServer()

nav2_route::RouteServer::RouteServer ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_route::RouteServer.

Parameters

options Additional options to control creation of the node.

Definition at line 24 of file route_server.cpp.

Member Function Documentation

◆ exceptionWarning()

template<typename GoalT >

void nav2_route::RouteServer::exceptionWarning	(	const std::shared_ptr< const GoalT >	goal,
		const std::exception &	ex
	)

protected

Log exception warnings, templated by action message type.

Parameters

goal	Goal that failed
exception	Exception message

Definition at line 388 of file route_server.cpp.

◆ findPlanningDuration()

rclcpp::Duration nav2_route::RouteServer::findPlanningDuration ( const rclcpp::Time & start_time )

protected

Find the planning duration of the request and log warnings.

Parameters

start_time Start of planning time

Returns: Duration of planning time

Definition at line 156 of file route_server.cpp.

◆ findRoute()

template<typename GoalT >

Route nav2_route::RouteServer::findRoute	(	const std::shared_ptr< const GoalT >	goal,
		ReroutingState &	rerouting_info = `ReroutingState()`
	)

protected

Abstract method combining finding the starting/ending nodes and the route planner to find the Node locations of interest and route to the goal.

Parameters

goal	The request goal information
blocked_ids	The IDs of blocked graphs / edges
updated_start_id	The nodeID of an updated starting point when tracking a route that corresponds to the next point to route to from to continue progress

Returns: A route of the request

Definition at line 215 of file route_server.cpp.

Referenced by processRouteRequest().

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◆ isRequestValid()

template<typename ActionT >

bool nav2_route::RouteServer::isRequestValid ( typename nav2::SimpleActionServer< ActionT >::SharedPtr & action_server )

protected

Find the routing request is valid (action server OK and not cancelled)

Parameters

action_server Actions server to check

Returns: if the request is valid

Definition at line 171 of file route_server.cpp.

References nav2::SimpleActionServer< ActionT >::is_cancel_requested(), nav2::SimpleActionServer< ActionT >::is_server_active(), nav2::SimpleActionServer< ActionT >::terminate_all(), and nav2::SimpleActionServer< ActionT >::terminate_current().

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◆ on_activate()

nav2::CallbackReturn nav2_route::RouteServer::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

Activate member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 107 of file route_server.cpp.

References nav2::LifecycleNode::createBond().

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◆ on_cleanup()

nav2::CallbackReturn nav2_route::RouteServer::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

Reset member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 130 of file route_server.cpp.

◆ on_configure()

nav2::CallbackReturn nav2_route::RouteServer::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

Configure member variables and initializes planner.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 29 of file route_server.cpp.

References computeRoute(), setRouteGraph(), and nav2::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2::CallbackReturn nav2_route::RouteServer::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

Deactivate member variables.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 119 of file route_server.cpp.

References nav2::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2::CallbackReturn nav2_route::RouteServer::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called when in shutdown state.

Parameters

state Reference to LifeCycle node state

Returns: SUCCESS or FAILURE

Definition at line 149 of file route_server.cpp.

◆ populateActionResult() [1/2]

void nav2_route::RouteServer::populateActionResult	(	std::shared_ptr< ComputeAndTrackRoute::Result >	result,
		const Route &	,
		const nav_msgs::msg::Path &	,
		const rclcpp::Duration &	execution_duration
	)

protected

Populate result for compute and track route action.

Parameters

result	Result to populate
route	Route to use to populate result
path	Path to use to populate result
planning_duration	Time to create a valid route

Definition at line 205 of file route_server.cpp.

◆ populateActionResult() [2/2]

void nav2_route::RouteServer::populateActionResult	(	std::shared_ptr< ComputeRoute::Result >	result,
		const Route &	route,
		const nav_msgs::msg::Path &	path,
		const rclcpp::Duration &	planning_duration
	)

protected

Populate result for compute route action.

Parameters

result	Result to populate
route	Route to use to populate result
path	Path to use to populate result
planning_duration	Time to create a valid route

Definition at line 194 of file route_server.cpp.

◆ setRouteGraph()

void nav2_route::RouteServer::setRouteGraph	(	const std::shared_ptr< rmw_request_id_t >	,
		const std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Request >	request,
		std::shared_ptr< nav2_msgs::srv::SetRouteGraph::Response >	response
	)

protected

The service callback to set a new route graph.

Parameters

request_header	to the service
request	to the service
response	from the service

Definition at line 363 of file route_server.cpp.

Referenced by on_configure().

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

nav2_route/include/nav2_route/route_server.hpp
nav2_route/src/route_server.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RouteServer()

Member Function Documentation

◆ exceptionWarning()

◆ findPlanningDuration()

◆ findRoute()

◆ isRequestValid()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ populateActionResult() [1/2]

◆ populateActionResult() [2/2]

◆ setRouteGraph()