cl_nav2z::CbNavigateForward Class Reference

#include <cb_navigate_forward.hpp>

Inheritance diagram for cl_nav2z::CbNavigateForward:

Collaboration diagram for cl_nav2z::CbNavigateForward:

Public Member Functions
	CbNavigateForward ()
	CbNavigateForward (float forwardDistance)
	CbNavigateForward (geometry_msgs::msg::PoseStamped goalPosition)
virtual	~CbNavigateForward ()
void	onEntry () override
void	onExit () override
void	setForwardDistance (float distance_meters)
	CbNavigateForward ()
	CbNavigateForward (float forwardDistance)
	CbNavigateForward (geometry_msgs::msg::PoseStamped goalPosition)
virtual	~CbNavigateForward ()
void	onEntry () override
void	onExit () override
void	setForwardDistance (float distance_meters)
Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
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 ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Public Attributes
CbNavigateForwardOptions	options

Protected Attributes
odom_tracker::CpOdomTracker *	odomTracker_
std::optional< geometry_msgs::msg::PoseStamped >	goalPose_
std::optional< float >	forwardDistance_
Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
components::CpNav2ActionInterface *	nav2ActionInterface_ = nullptr
smacc2::client_core_components::CpActionClient< nav2_msgs::action::NavigateToPose > *	actionClient_ = nullptr
rclcpp_action::ResultCode	navigationResult_
cl_nav2z::ClNav2Z *	nav2zClient_
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_
std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > >	goalHandleFuture_

Additional Inherited Members
Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
void	sendGoal (nav2_msgs::action::NavigateToPose::Goal &goal)
void	cancelGoal ()
template<typename T >
boost::signals2::connection	onNavigationSucceeded (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
template<typename T >
boost::signals2::connection	onNavigationAborted (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
template<typename T >
boost::signals2::connection	onNavigationCancelled (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
virtual void	onNavigationResult (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::WrappedResult &)
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 ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 48 of file cb_navigate_forward.hpp.

Constructor & Destructor Documentation

CbNavigateForward() [1/6]

cl_nav2z::CbNavigateForward::CbNavigateForward

(

)

Definition at line 37 of file cb_navigate_forward.cpp.

{}

CbNavigateForward() [2/6]

cl_nav2z::CbNavigateForward::CbNavigateForward

(

float

forwardDistance

)

Definition at line 36 of file cb_navigate_forward.cpp.

: forwardDistance_(distance_meters) {}

CbNavigateForward() [3/6]

cl_nav2z::CbNavigateForward::CbNavigateForward

(

geometry_msgs::msg::PoseStamped

goalPosition

)

Definition at line 39 of file cb_navigate_forward.cpp.

: goalPose_(goal) {}

~CbNavigateForward() [1/2]

cl_nav2z::CbNavigateForward::~CbNavigateForward ( )

virtual

Definition at line 41 of file cb_navigate_forward.cpp.

{}

CbNavigateForward() [4/6]

cl_nav2z::CbNavigateForward::CbNavigateForward

(

)

CbNavigateForward() [5/6]

cl_nav2z::CbNavigateForward::CbNavigateForward

(

float

forwardDistance

)

CbNavigateForward() [6/6]

cl_nav2z::CbNavigateForward::CbNavigateForward

(

geometry_msgs::msg::PoseStamped

goalPosition

)

~CbNavigateForward() [2/2]

virtual cl_nav2z::CbNavigateForward::~CbNavigateForward ( )

virtual

Member Function Documentation

onEntry() [1/2]

void cl_nav2z::CbNavigateForward::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 58 of file cb_navigate_forward.cpp.

{
  if (forwardDistance_)
  {
    setForwardDistance(*forwardDistance_);
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] Straight motion distance: " << *forwardDistance_);
  }
 
  // get current pose
  CpPose * p;
  this->requiresComponent(p, ComponentRequirement::HARD);
 
  auto referenceFrame = p->getReferenceFrame();
  auto currentPoseMsg = p->toPoseMsg();
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "]"
                     << "current pose: " << currentPoseMsg);
 
  // force global orientation if it is requested
  if (options.forceInitialOrientation)
  {
    currentPoseMsg.orientation = *(options.forceInitialOrientation);
    RCLCPP_WARN_STREAM(
      getLogger(),
      "[" << getName() << "]"
          << "Forcing initial straight motion orientation: " << currentPoseMsg.orientation);
  }
 
  tf2::Transform currentPose;
  tf2::fromMsg(currentPoseMsg, currentPose);
 
  tf2::Transform targetPose;
  if (goalPose_)
  {
    tf2::fromMsg(goalPose_->pose, targetPose);
  }
  else if (forwardDistance_)
  {
    // compute forward goal pose
    tf2::Transform forwardDeltaTransform;
    forwardDeltaTransform.setIdentity();
    forwardDeltaTransform.setOrigin(tf2::Vector3(*forwardDistance_, 0, 0));
 
    targetPose = currentPose * forwardDeltaTransform;
  }
  else
  {
    RCLCPP_WARN_STREAM(
      getLogger(),
      "[" << getName() << "]"
          << "No goal Pose or Distance is specified. Aborting. No action request is sent."
          << currentPoseMsg.orientation);
 
    return;
  }
 
  // action goal
  nav2_msgs::action::NavigateToPose::Goal goal;
  goal.pose.header.frame_id = referenceFrame;
  //goal.pose.header.stamp = getNode()->now();
  tf2::toMsg(targetPose, goal.pose.pose);
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "]"
                     << " TARGET POSE FORWARD: " << goal.pose.pose);
 
  // current pose
  geometry_msgs::msg::PoseStamped currentStampedPoseMsg;
  currentStampedPoseMsg.header.frame_id = referenceFrame;
  currentStampedPoseMsg.header.stamp =
    getNode()->now();  // probably it is better avoid setting that goal timestamp
 
  tf2::toMsg(currentPose, currentStampedPoseMsg.pose);
 
  requiresComponent(odomTracker_, ComponentRequirement::SOFT);
 
  if (odomTracker_ != nullptr)
  {
    auto pathname = this->getCurrentState()->getName() + " - " + getName();
    odomTracker_->pushPath(pathname);
    odomTracker_->setStartPoint(currentStampedPoseMsg);
    odomTracker_->setCurrentMotionGoal(goal.pose);
    odomTracker_->setWorkingMode(WorkingMode::RECORD_PATH);
  }
 
  CpPlannerSwitcher * plannerSwitcher;
  this->requiresComponent(plannerSwitcher, ComponentRequirement::HARD);
  plannerSwitcher->setForwardPlanner();
 
  CpGoalCheckerSwitcher * goalCheckerSwitcher;
  this->requiresComponent(goalCheckerSwitcher, ComponentRequirement::HARD);
  goalCheckerSwitcher->setGoalCheckerId("forward_goal_checker");
 
  this->sendGoal(goal);
}

References cl_nav2z::CbNavigateForwardOptions::forceInitialOrientation, forwardDistance_, smacc2::ISmaccClientBehavior::getCurrentState(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccState::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_nav2z::CpPose::getReferenceFrame(), goalPose_, odomTracker_, options, cl_nav2z::odom_tracker::CpOdomTracker::pushPath(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal(), cl_nav2z::odom_tracker::CpOdomTracker::setCurrentMotionGoal(), setForwardDistance(), cl_nav2z::CpPlannerSwitcher::setForwardPlanner(), cl_nav2z::CpGoalCheckerSwitcher::setGoalCheckerId(), cl_nav2z::odom_tracker::CpOdomTracker::setStartPoint(), cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode(), and cl_nav2z::CpPose::toPoseMsg().

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onEntry() [2/2]

void cl_nav2z::CbNavigateForward::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

onExit() [1/2]

void cl_nav2z::CbNavigateForward::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 156 of file cb_navigate_forward.cpp.

{
  if (odomTracker_)
  {
    this->odomTracker_->setWorkingMode(WorkingMode::IDLE);
  }
}

References odomTracker_, and cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode().

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onExit() [2/2]

void cl_nav2z::CbNavigateForward::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

setForwardDistance() [1/2]

void cl_nav2z::CbNavigateForward::setForwardDistance

(

float

distance_meters

)

Definition at line 43 of file cb_navigate_forward.cpp.

{
  if (distance_meters < 0)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] negative forward distance: " << distance_meters
                       << ". Resetting to 0.");
    distance_meters = 0;
  }
  forwardDistance_ = distance_meters;
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] setting fw motion distance: " << *forwardDistance_);
}

References forwardDistance_, smacc2::ISmaccClientBehavior::getLogger(), and smacc2::ISmaccClientBehavior::getName().

Referenced by onEntry().

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setForwardDistance() [2/2]

void cl_nav2z::CbNavigateForward::setForwardDistance

(

float

distance_meters

)

Member Data Documentation

forwardDistance_

std::optional< float > cl_nav2z::CbNavigateForward::forwardDistance_

protected

Definition at line 77 of file cb_navigate_forward.hpp.

Referenced by onEntry(), and setForwardDistance().

goalPose_

std::optional< geometry_msgs::msg::PoseStamped > cl_nav2z::CbNavigateForward::goalPose_

protected

Definition at line 75 of file cb_navigate_forward.hpp.

Referenced by onEntry().

odomTracker_

odom_tracker::CpOdomTracker * cl_nav2z::CbNavigateForward::odomTracker_

protected

Definition at line 73 of file cb_navigate_forward.hpp.

Referenced by onEntry(), and onExit().

options

CbNavigateForwardOptions cl_nav2z::CbNavigateForward::options

Definition at line 51 of file cb_navigate_forward.hpp.

Referenced by onEntry().

---

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

• smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_navigate_forward.hpp
• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_forward.hpp
• smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_navigate_forward.cpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_forward.cpp