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Public Member Functions | Public Attributes | Private Member Functions | List of all members
cl_nav2z::CbNavigateGlobalPosition Class Reference

#include <cb_navigate_global_position.hpp>

Inheritance diagram for cl_nav2z::CbNavigateGlobalPosition:
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Collaboration diagram for cl_nav2z::CbNavigateGlobalPosition:
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Public Member Functions

 CbNavigateGlobalPosition ()
 
 CbNavigateGlobalPosition (float x, float y, float yaw, std::optional< CbNavigateGlobalPositionOptions > options=std::nullopt)
 
void setGoal (const geometry_msgs::msg::Pose &pose)
 
virtual void onEntry () override
 
void onExit () override
 
void execute ()
 
- Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual ~CbNav2ZClientBehaviorBase ()
 
template<typename TOrthogonal , typename TSourceObject >
void onOrthogonalAllocation ()
 
- Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void onOrthogonalAllocation ()
 
virtual ~SmaccAsyncClientBehavior ()
 
template<typename TCallback , typename T >
boost::signals2::connection onSuccess (TCallback callback, T *object)
 
template<typename TCallback , typename T >
boost::signals2::connection onFinished (TCallback callback, T *object)
 
template<typename TCallback , typename T >
boost::signals2::connection onFailure (TCallback callback, T *object)
 
void requestForceFinish ()
 
void executeOnEntry () override
 
void executeOnExit () override
 
void waitOnEntryThread (bool requestFinish)
 
template<typename TCallbackMethod , typename T >
boost::signals2::connection onSuccess (TCallbackMethod callback, T *object)
 
template<typename TCallbackMethod , typename T >
boost::signals2::connection onFinished (TCallbackMethod callback, T *object)
 
template<typename TCallbackMethod , typename T >
boost::signals2::connection onFailure (TCallbackMethod callback, T *object)
 
- Public Member Functions inherited from smacc2::ISmaccClientBehavior
 ISmaccClientBehavior ()
 
virtual ~ISmaccClientBehavior ()
 
ISmaccStateMachinegetStateMachine ()
 
std::string getName () const
 
template<typename SmaccClientType >
void requiresClient (SmaccClientType *&storage)
 
template<typename SmaccComponentType >
void requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)
 
virtual void onEntry ()
 
virtual void onExit ()
 
virtual void executeOnEntry ()
 
virtual void executeOnExit ()
 

Public Attributes

float goalYaw
 
CbNavigateGlobalPositionOptions options
 
geometry_msgs::msg::Point goalPosition
 

Private Member Functions

void readStartPoseFromParameterServer (ClNav2Z::Goal &goal)
 

Additional Inherited Members

- Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
void sendGoal (ClNav2Z::Goal &goal)
 
void cancelGoal ()
 
bool isOwnActionResponse (const ClNav2Z::WrappedResult &)
 
virtual void onNavigationResult (const ClNav2Z::WrappedResult &)
 
virtual void onNavigationActionSuccess (const ClNav2Z::WrappedResult &)
 
virtual void onNavigationActionAbort (const ClNav2Z::WrappedResult &)
 
- Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void postSuccessEvent ()
 
void postFailureEvent ()
 
virtual void dispose () override
 
bool isShutdownRequested ()
 
- Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void runtimeConfigure ()
 
template<typename EventType >
void postEvent (const EventType &ev)
 
template<typename EventType >
void postEvent ()
 
ISmaccStategetCurrentState ()
 
virtual void dispose ()
 
virtual rclcpp::Node::SharedPtr getNode () const
 
virtual rclcpp::Logger getLogger () const
 
- Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Znav2zClient_
 
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr navigationCallback_
 
rclcpp_action::ResultCode navigationResult_
 
std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > > goalHandleFuture_
 

Detailed Description

Definition at line 40 of file cb_navigate_global_position.hpp.

Constructor & Destructor Documentation

◆ CbNavigateGlobalPosition() [1/2]

cl_nav2z::CbNavigateGlobalPosition::CbNavigateGlobalPosition ( )

Definition at line 32 of file cb_navigate_global_position.cpp.

32{}

◆ CbNavigateGlobalPosition() [2/2]

cl_nav2z::CbNavigateGlobalPosition::CbNavigateGlobalPosition ( float  x,
float  y,
float  yaw,
std::optional< CbNavigateGlobalPositionOptions options = std::nullopt 
)

Definition at line 34 of file cb_navigate_global_position.cpp.

36{
37 auto p = geometry_msgs::msg::Point();
38 p.x = x;
39 p.y = y;
40 goalPosition = p;
41 goalYaw = yaw;
42
43 if (options) this->options = *options;
44}

References goalPosition, goalYaw, and options.

Member Function Documentation

◆ execute()

void cl_nav2z::CbNavigateGlobalPosition::execute ( )

Definition at line 83 of file cb_navigate_global_position.cpp.

84{
86 auto referenceFrame = p->getReferenceFrame();
87 // auto currentPoseMsg = p->toPoseMsg();
88
89 RCLCPP_INFO(getLogger(), "Sending Goal to MoveBase");
90 ClNav2Z::Goal goal;
91 goal.pose.header.frame_id = referenceFrame;
92 //goal.pose.header.stamp = getNode()->now();
93
94 goal.pose.pose.position = goalPosition;
95 tf2::Quaternion q;
96 q.setRPY(0, 0, goalYaw);
97 goal.pose.pose.orientation = tf2::toMsg(q);
98
99 this->sendGoal(goal);
100}
const std::string & getReferenceFrame() const
Definition: cp_pose.hpp:76
virtual rclcpp::Logger getLogger() const
TComponent * getComponent()

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::Pose::getReferenceFrame(), goalPosition, goalYaw, cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, and cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal().

Referenced by onEntry().

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◆ onEntry()

void cl_nav2z::CbNavigateGlobalPosition::onEntry ( )
overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbStopNavigation.

Definition at line 52 of file cb_navigate_global_position.cpp.

53{
54 RCLCPP_INFO(getLogger(), "Entering Navigate Global position");
55 RCLCPP_INFO(getLogger(), "Component requirements completed");
56
57 auto pose = nav2zClient_->getComponent<cl_nav2z::Pose>()->toPoseMsg();
58 auto * odomTracker = nav2zClient_->getComponent<OdomTracker>();
59
60 auto plannerSwitcher = nav2zClient_->getComponent<PlannerSwitcher>();
61
62 plannerSwitcher->setDefaultPlanners(false);
63
65 {
66 plannerSwitcher->setDesiredController(*(options.controllerName_));
67 }
68
69 plannerSwitcher->commitPublish();
70
71 auto goalCheckerSwitcher = nav2zClient_->getComponent<GoalCheckerSwitcher>();
72 goalCheckerSwitcher->setGoalCheckerId("goal_checker");
73
74 auto pathname = this->getCurrentState()->getName() + " - " + getName();
75 odomTracker->pushPath(pathname);
76 odomTracker->setStartPoint(pose);
77 odomTracker->setWorkingMode(WorkingMode::RECORD_PATH);
78
79 execute();
80}
virtual std::string getName()=0

References cl_nav2z::CbNavigateGlobalPositionOptions::controllerName_, execute(), smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getCurrentState(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccState::getName(), cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, options, and cl_nav2z::GoalCheckerSwitcher::setGoalCheckerId().

Referenced by cl_nav2z::CbStopNavigation::onEntry().

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◆ onExit()

void cl_nav2z::CbNavigateGlobalPosition::onExit ( )
overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbStopNavigation.

Definition at line 104 of file cb_navigate_global_position.cpp.

105{
106 RCLCPP_INFO(getLogger(), "Exiting move goal Action Client");
107}

References smacc2::ISmaccClientBehavior::getLogger().

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◆ readStartPoseFromParameterServer()

void cl_nav2z::CbNavigateGlobalPosition::readStartPoseFromParameterServer ( ClNav2Z::Goal goal)
private

◆ setGoal()

void cl_nav2z::CbNavigateGlobalPosition::setGoal ( const geometry_msgs::msg::Pose &  pose)

Definition at line 46 of file cb_navigate_global_position.cpp.

47{
48 goalPosition = pose.position;
49 goalYaw = tf2::getYaw(pose.orientation);
50}

References goalPosition, and goalYaw.

Referenced by cl_nav2z::CbStopNavigation::onEntry().

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Member Data Documentation

◆ goalPosition

geometry_msgs::msg::Point cl_nav2z::CbNavigateGlobalPosition::goalPosition

Definition at line 46 of file cb_navigate_global_position.hpp.

Referenced by CbNavigateGlobalPosition(), execute(), and setGoal().

◆ goalYaw

float cl_nav2z::CbNavigateGlobalPosition::goalYaw

Definition at line 43 of file cb_navigate_global_position.hpp.

Referenced by CbNavigateGlobalPosition(), execute(), and setGoal().

◆ options

CbNavigateGlobalPositionOptions cl_nav2z::CbNavigateGlobalPosition::options

Definition at line 45 of file cb_navigate_global_position.hpp.

Referenced by CbNavigateGlobalPosition(), and onEntry().


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