nav2_system_tests::PlannerTester Class Reference

Inheritance diagram for nav2_system_tests::PlannerTester:

Collaboration diagram for nav2_system_tests::PlannerTester:

Public Types
using	ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped
using	ComputePathToPoseResult = nav_msgs::msg::Path
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
void	activate ()
void	deactivate ()
void	loadDefaultMap ()
void	loadSimpleCostmap (const nav2_util::TestCostmap &testCostmapType)
bool	defaultPlannerTest (ComputePathToPoseResult &path, const double deviation_tolerance=1.0)
bool	defaultPlannerRandomTests (const unsigned int number_tests, const float acceptable_fail_ratio)
bool	isPathValid (nav_msgs::msg::Path &path, unsigned int max_cost, bool consider_unknown_as_obstacle)
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.

Additional Inherited Members
Protected Member Functions inherited from nav2::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.
void	register_rcl_preshutdown_callback ()
void	runCleanups ()
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

Definition at line 129 of file planner_tester.hpp.

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

• nav2_system_tests/src/planning/planner_tester.hpp
• nav2_system_tests/src/planning/planner_tester.cpp