cl_nav2z::CpGoalCheckerSwitcher Class Reference

#include <cp_goal_checker_switcher.hpp>

Inheritance diagram for cl_nav2z::CpGoalCheckerSwitcher:

Collaboration diagram for cl_nav2z::CpGoalCheckerSwitcher:

Public Member Functions
	CpGoalCheckerSwitcher (std::string goal_checker_selector_topic="goal_checker_selector", std::string default_goal_checker_name="goal_checker")
void	onInitialize () override
virtual	~CpGoalCheckerSwitcher ()
void	setDefaultGoalChecker ()
void	setGoalCheckerId (std::string goal_checker_id)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
std::string	goal_checker_selector_topic_
std::string	default_goal_checker_name_
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	goal_checker_selector_pub_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 31 of file cp_goal_checker_switcher.hpp.

Constructor & Destructor Documentation

CpGoalCheckerSwitcher()

cl_nav2z::CpGoalCheckerSwitcher::CpGoalCheckerSwitcher	(	std::string	goal_checker_selector_topic = "goal_checker_selector",
		std::string	default_goal_checker_name = "goal_checker"
	)

Definition at line 24 of file cp_goal_checker_switcher.cpp.

: goal_checker_selector_topic_(goal_checker_selector_topic),
  default_goal_checker_name_(default_goal_checker_name)
{
}

~CpGoalCheckerSwitcher()

cl_nav2z::CpGoalCheckerSwitcher::~CpGoalCheckerSwitcher ( )

virtual

Definition at line 31 of file cp_goal_checker_switcher.cpp.

{}

Member Function Documentation

onInitialize()

void cl_nav2z::CpGoalCheckerSwitcher::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 33 of file cp_goal_checker_switcher.cpp.

{
  rclcpp::QoS qos(rclcpp::KeepLast(1));
  qos.transient_local().reliable();
 
  this->goal_checker_selector_pub_ =
    getNode()->create_publisher<std_msgs::msg::String>(goal_checker_selector_topic_, qos);
}

References smacc2::ISmaccComponent::getNode(), goal_checker_selector_pub_, and goal_checker_selector_topic_.

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setDefaultGoalChecker()

void cl_nav2z::CpGoalCheckerSwitcher::setDefaultGoalChecker

(

)

Definition at line 42 of file cp_goal_checker_switcher.cpp.

{
  setGoalCheckerId(default_goal_checker_name_);  // default id in navigation2 stack
}

References default_goal_checker_name_, and setGoalCheckerId().

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setGoalCheckerId()

void cl_nav2z::CpGoalCheckerSwitcher::setGoalCheckerId

(

std::string

goal_checker_id

)

Definition at line 47 of file cp_goal_checker_switcher.cpp.

{
  RCLCPP_INFO_STREAM(
    getLogger(), "[CpGoalCheckerSwitcher] Setting goal checker: " << goalcheckerid);
 
  // controller_server_node_->wait_for_service();
  // std::vector<rclcpp::Parameter> params{ rclcpp::Parameter("current_goal_checker", goalcheckerid) };
  // auto futureResults = controller_server_node_->set_parameters(params);
 
  std_msgs::msg::String msg;
  msg.data = goalcheckerid;
  this->goal_checker_selector_pub_->publish(msg);
 
  // int i = 0;
  // for (auto& res : futureResults.get())
  // {
  //   RCLCPP_INFO_STREAM(getLogger(), "[CpGoalCheckerSwitcher] parameter result: "
  //                                                   << params[i].get_name() << "=" << params[i].as_string()
  //                                                   << ". Result: " << res.successful);
  //   i++;
 
  //   if (!res.successful)
  //     RCLCPP_ERROR_STREAM(this->getLogger(), "[CpGoalCheckerSwitcher] goal checker could not properly
  //     switch "
  //                                                        "the goal checker of the controller_server");
  // }
}

References smacc2::ISmaccComponent::getLogger(), and goal_checker_selector_pub_.

Referenced by cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbUndoPathBackwards::onEntry(), and setDefaultGoalChecker().

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Member Data Documentation

default_goal_checker_name_

std::string cl_nav2z::CpGoalCheckerSwitcher::default_goal_checker_name_

private

Definition at line 44 of file cp_goal_checker_switcher.hpp.

Referenced by setDefaultGoalChecker().

goal_checker_selector_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr cl_nav2z::CpGoalCheckerSwitcher::goal_checker_selector_pub_

private

Definition at line 45 of file cp_goal_checker_switcher.hpp.

Referenced by onInitialize(), and setGoalCheckerId().

goal_checker_selector_topic_

std::string cl_nav2z::CpGoalCheckerSwitcher::goal_checker_selector_topic_

private

Definition at line 43 of file cp_goal_checker_switcher.hpp.

Referenced by onInitialize().

---

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/goal_checker_switcher/cp_goal_checker_switcher.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/goal_checker_switcher/cp_goal_checker_switcher.cpp