#include <cb_navigate_global_position.hpp>

Inheritance diagram for cl_nav2z::CbNavigateGlobalPosition:

Collaboration diagram for cl_nav2z::CbNavigateGlobalPosition:

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 ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)

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 ()
	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

Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Z *	nav2zClient_

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.

{
  auto p = geometry_msgs::msg::Point();
  p.x = x;
  p.y = y;
  goalPosition = p;
  goalYaw = yaw;
 
  if (options) this->options = *options;
}

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.

{
  auto p = nav2zClient_->getComponent<cl_nav2z::Pose>();
  auto referenceFrame = p->getReferenceFrame();
  // auto currentPoseMsg = p->toPoseMsg();
 
  RCLCPP_INFO(getLogger(), "Sending Goal to MoveBase");
  ClNav2Z::Goal goal;
  goal.pose.header.frame_id = referenceFrame;
  //goal.pose.header.stamp = getNode()->now();
 
  goal.pose.pose.position = goalPosition;
  tf2::Quaternion q;
  q.setRPY(0, 0, goalYaw);
  goal.pose.pose.orientation = tf2::toMsg(q);
 
  this->sendGoal(goal);
}

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.

{
  RCLCPP_INFO(getLogger(), "Entering Navigate Global position");
  RCLCPP_INFO(getLogger(), "Component requirements completed");
 
  auto pose = nav2zClient_->getComponent<cl_nav2z::Pose>()->toPoseMsg();
  auto * odomTracker = nav2zClient_->getComponent<CpOdomTracker>();
 
  auto plannerSwitcher = nav2zClient_->getComponent<CpPlannerSwitcher>();
 
  plannerSwitcher->setDefaultPlanners(false);
 
  if (options.controllerName_)
  {
    plannerSwitcher->setDesiredController(*(options.controllerName_));
  }
 
  plannerSwitcher->commitPublish();
 
  auto goalCheckerSwitcher = nav2zClient_->getComponent<CpGoalCheckerSwitcher>();
  goalCheckerSwitcher->setGoalCheckerId("goal_checker");
 
  auto pathname = this->getCurrentState()->getName() + " - " + getName();
  odomTracker->pushPath(pathname);
  odomTracker->setStartPoint(pose);
  odomTracker->setWorkingMode(WorkingMode::RECORD_PATH);
 
  execute();
}

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::CpGoalCheckerSwitcher::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.

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

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.

{
  goalPosition = pose.position;
  goalYaw = tf2::getYaw(pose.orientation);
}

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:

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_global_position.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_global_position.cpp

Public Member Functions

Public Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbNavigateGlobalPosition() [1/2]

◆ CbNavigateGlobalPosition() [2/2]

Member Function Documentation

◆ execute()

◆ onEntry()

◆ onExit()

◆ readStartPoseFromParameterServer()

◆ setGoal()

Member Data Documentation

◆ goalPosition

◆ goalYaw

◆ options