Inheritance diagram for opennav_docking::SimpleChargingDock:

Collaboration diagram for opennav_docking::SimpleChargingDock:

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Public Member Functions
	SimpleChargingDock ()
	Constructor.

virtual void	configure (const nav2::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > tf)

virtual void	cleanup ()
	Method to cleanup resources used on shutdown.

virtual void	activate ()
	Method to active Behavior and any threads involved in execution.

virtual void	deactivate ()
	Method to deactivate Behavior and any threads involved in execution.

virtual geometry_msgs::msg::PoseStamped	getStagingPose (const geometry_msgs::msg::Pose &pose, const std::string &frame)
	Method to obtain the dock's staging pose. This method should likely be using TF and the dock's pose information to find the staging pose from a static or parameterized staging pose relative to the docking pose. More...

virtual bool	getRefinedPose (geometry_msgs::msg::PoseStamped &pose, std::string id)
	Method to obtain the refined pose of the dock, usually based on sensors. More...

virtual bool	isDocked ()
	Have we made contact with dock? This can be implemented in a variety of ways: by establishing communications with the dock, by monitoring the the drive motor efforts, etc. More...

virtual bool	isCharging ()
	Are we charging? If a charge dock requires any sort of negotiation to begin charging, that should happen inside this function as this function will be called repeatedly after the docking loop to check if successful. More...

virtual bool	disableCharging ()
	Undocking while current is still flowing can damage a charge dock so some charge docks provide the ability to disable charging before the robot physically disconnects. The undocking action will not command the robot to move until this returns true. More...

virtual bool	hasStoppedCharging ()
	Similar to isCharging() but called when undocking.

Public Member Functions inherited from opennav_docking_core::ChargingDock
virtual	~ChargingDock ()
	Virtual destructor.

virtual bool	isCharger ()
	Gets if this is a charging-typed dock.

DockDirection	getDockDirection ()
	Indicates the direction of the dock. This is used to determine if the robot should drive forwards or backwards onto the dock. More...

bool	shouldRotateToDock ()
	Determines whether the robot should rotate 180º to face away from the dock. For example, to perform a backward docking without detections. More...

std::string	getName ()

Protected Member Functions
void	jointStateCallback (const sensor_msgs::msg::JointState::SharedPtr state)

Protected Attributes
nav2::Subscription< geometry_msgs::msg::PoseStamped >::SharedPtr	dock_pose_sub_

rclcpp::Publisher< geometry_msgs::msg::PoseStamped >::SharedPtr	dock_pose_pub_

rclcpp::Publisher< geometry_msgs::msg::PoseStamped >::SharedPtr	filtered_dock_pose_pub_

rclcpp::Publisher< geometry_msgs::msg::PoseStamped >::SharedPtr	staging_pose_pub_

geometry_msgs::msg::PoseStamped	detected_dock_pose_

geometry_msgs::msg::PoseStamped	dock_pose_

nav2::Subscription< sensor_msgs::msg::BatteryState >::SharedPtr	battery_sub_

bool	is_charging_

bool	use_battery_status_

nav2::Subscription< sensor_msgs::msg::JointState >::SharedPtr	joint_state_sub_

std::vector< std::string >	stall_joint_names_

double	stall_velocity_threshold_

double	stall_effort_threshold_

bool	is_stalled_

bool	use_external_detection_pose_

double	external_detection_timeout_

tf2::Quaternion	external_detection_rotation_

double	external_detection_translation_x_

double	external_detection_translation_y_

std::shared_ptr< PoseFilter >	filter_

double	charging_threshold_

double	docking_threshold_

std::string	base_frame_id_

double	staging_x_offset_

double	staging_yaw_offset_

nav2::LifecycleNode::SharedPtr	node_

std::shared_ptr< tf2_ros::Buffer >	tf2_buffer_

Protected Attributes inherited from opennav_docking_core::ChargingDock
std::string	name_

DockDirection	dock_direction_ {DockDirection::UNKNOWN}

bool	rotate_to_dock_ {false}

Additional Inherited Members
Public Types inherited from opennav_docking_core::ChargingDock
using	Ptr = std::shared_ptr< ChargingDock >

Detailed Description

Definition at line 35 of file simple_charging_dock.hpp.

Member Function Documentation

◆ configure()

void opennav_docking::SimpleChargingDock::configure	(	const nav2::LifecycleNode::WeakPtr &	parent,
		const std::string &	name,
		std::shared_ptr< tf2_ros::Buffer >	tf
	)

virtual

Parameters

parent	pointer to user's node
name	The name of this planner
tf	A pointer to a TF buffer

Implements opennav_docking_core::ChargingDock.

Definition at line 24 of file simple_charging_dock.cpp.

◆ disableCharging()

bool opennav_docking::SimpleChargingDock::disableCharging ( )

virtual

Undocking while current is still flowing can damage a charge dock so some charge docks provide the ability to disable charging before the robot physically disconnects. The undocking action will not command the robot to move until this returns true.

NOTE: this function is expected to return QUICKLY. Blocking here will block the docking controller loop.

Implements opennav_docking_core::ChargingDock.

Definition at line 295 of file simple_charging_dock.cpp.

◆ getRefinedPose()

bool opennav_docking::SimpleChargingDock::getRefinedPose	(	geometry_msgs::msg::PoseStamped &	pose,
		std::string	id
	)

virtual

Method to obtain the refined pose of the dock, usually based on sensors.

Parameters

pose	The initial estimate of the dock pose.
frame	The frame of the initial estimate.

Implements opennav_docking_core::ChargingDock.

Definition at line 191 of file simple_charging_dock.cpp.

◆ getStagingPose()

geometry_msgs::msg::PoseStamped opennav_docking::SimpleChargingDock::getStagingPose	(	const geometry_msgs::msg::Pose &	pose,
		const std::string &	frame
	)

virtual

Method to obtain the dock's staging pose. This method should likely be using TF and the dock's pose information to find the staging pose from a static or parameterized staging pose relative to the docking pose.

Parameters

pose	Dock with pose
frame	Dock's frame of pose

Returns: PoseStamped of staging pose in the specified frame

Implements opennav_docking_core::ChargingDock.

Definition at line 163 of file simple_charging_dock.cpp.

◆ isCharging()

bool opennav_docking::SimpleChargingDock::isCharging ( )

virtual

Are we charging? If a charge dock requires any sort of negotiation to begin charging, that should happen inside this function as this function will be called repeatedly after the docking loop to check if successful.

NOTE: this function is expected to return QUICKLY. Blocking here will block the docking controller loop.

Implements opennav_docking_core::ChargingDock.

Definition at line 290 of file simple_charging_dock.cpp.

References isDocked().

Referenced by hasStoppedCharging().

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◆ isDocked()

bool opennav_docking::SimpleChargingDock::isDocked ( )

virtual

Have we made contact with dock? This can be implemented in a variety of ways: by establishing communications with the dock, by monitoring the the drive motor efforts, etc.

NOTE: this function is expected to return QUICKLY. Blocking here will block the docking controller loop.

Implements opennav_docking_core::ChargingDock.

Definition at line 260 of file simple_charging_dock.cpp.

Referenced by isCharging().

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

nav2_docking/opennav_docking/include/opennav_docking/simple_charging_dock.hpp
nav2_docking/opennav_docking/src/simple_charging_dock.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ configure()

◆ disableCharging()

◆ getRefinedPose()

◆ getStagingPose()

◆ isCharging()

◆ isDocked()