cl_nav2z::CpPlannerSwitcher Class Reference

#include <cp_planner_switcher.hpp>

Inheritance diagram for cl_nav2z::CpPlannerSwitcher:

Collaboration diagram for cl_nav2z::CpPlannerSwitcher:

Public Member Functions
	CpPlannerSwitcher ()
void	onInitialize () override
void	setDesiredGlobalPlanner (std::string)
void	setDesiredController (std::string)
void	commitPublish ()
void	setBackwardPlanner (bool commit=true)
void	setUndoPathBackwardPlanner (bool commit=true)
void	setForwardPlanner (bool commit=true)
void	setPureSpinningPlanner (bool commit=true)
void	setDefaultPlanners (bool commit=true)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
std::string	desired_planner_
std::string	desired_controller_
bool	set_planners_mode_flag_
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	planner_selector_pub_
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	controller_selector_pub_
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_planner_switcher.hpp.

Constructor & Destructor Documentation

CpPlannerSwitcher()

cl_nav2z::CpPlannerSwitcher::CpPlannerSwitcher

(

)

Definition at line 27 of file cp_planner_switcher.cpp.

{}

Member Function Documentation

commitPublish()

void cl_nav2z::CpPlannerSwitcher::commitPublish

(

)

Definition at line 99 of file cp_planner_switcher.cpp.

{
  std_msgs::msg::String planner_msg;
  planner_msg.data = desired_planner_;
  this->planner_selector_pub_->publish(planner_msg);
 
  std_msgs::msg::String controller_msg;
  controller_msg.data = desired_controller_;
  this->controller_selector_pub_->publish(controller_msg);
}

References controller_selector_pub_, desired_controller_, desired_planner_, and planner_selector_pub_.

Referenced by setBackwardPlanner(), setDefaultPlanners(), setForwardPlanner(), setPureSpinningPlanner(), and setUndoPathBackwardPlanner().

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onInitialize()

void cl_nav2z::CpPlannerSwitcher::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 29 of file cp_planner_switcher.cpp.

{
  rclcpp::QoS qos(rclcpp::KeepLast(1));
  qos.transient_local().reliable();
 
  this->planner_selector_pub_ =
    getNode()->create_publisher<std_msgs::msg::String>("planner_selector", qos);
  this->controller_selector_pub_ =
    getNode()->create_publisher<std_msgs::msg::String>("controller_selector", qos);
}

References controller_selector_pub_, smacc2::ISmaccComponent::getNode(), and planner_selector_pub_.

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setBackwardPlanner()

void cl_nav2z::CpPlannerSwitcher::setBackwardPlanner

(

bool

commit = true

)

Definition at line 60 of file cp_planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set BackwardPlanner");
 
  desired_planner_ = "BackwardGlobalPlanner";
  desired_controller_ = "BackwardLocalPlanner";
 
  if (commit) commitPublish();
}

References commitPublish(), desired_controller_, desired_planner_, and smacc2::ISmaccComponent::getLogger().

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

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setDefaultPlanners()

void cl_nav2z::CpPlannerSwitcher::setDefaultPlanners

(

bool

commit = true

)

Definition at line 91 of file cp_planner_switcher.cpp.

{
  desired_planner_ = "GridBased";
  desired_controller_ = "FollowPath";
 
  if (commit) commitPublish();
}

References commitPublish(), desired_controller_, and desired_planner_.

Referenced by cl_nav2z::CpWaypointNavigator::sendNextGoal().

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setDesiredController()

void cl_nav2z::CpPlannerSwitcher::setDesiredController

(

std::string

controllerName

)

Definition at line 45 of file cp_planner_switcher.cpp.

{
  desired_controller_ = controllerName;
}

References desired_controller_.

setDesiredGlobalPlanner()

void cl_nav2z::CpPlannerSwitcher::setDesiredGlobalPlanner

(

std::string

plannerName

)

Definition at line 40 of file cp_planner_switcher.cpp.

{
  desired_planner_ = plannerName;
}

References desired_planner_.

setForwardPlanner()

void cl_nav2z::CpPlannerSwitcher::setForwardPlanner

(

bool

commit = true

)

Definition at line 70 of file cp_planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set ForwardPlanner");
 
  desired_planner_ = "ForwardGlobalPlanner";
  desired_controller_ = "ForwardLocalPlanner";
 
  if (commit) commitPublish();
}

References commitPublish(), desired_controller_, desired_planner_, and smacc2::ISmaccComponent::getLogger().

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

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setPureSpinningPlanner()

void cl_nav2z::CpPlannerSwitcher::setPureSpinningPlanner

(

bool

commit = true

)

Definition at line 80 of file cp_planner_switcher.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set PureSpinningPlanner");
 
  desired_planner_ = "ForwardGlobalPlanner";
  desired_controller_ = "PureSpinningLocalPlanner";
 
  if (commit) commitPublish();
}

References commitPublish(), desired_controller_, desired_planner_, and smacc2::ISmaccComponent::getLogger().

Referenced by cl_nav2z::CbAbsoluteRotate::onEntry(), and cl_nav2z::CbRotate::onEntry().

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setUndoPathBackwardPlanner()

void cl_nav2z::CpPlannerSwitcher::setUndoPathBackwardPlanner

(

bool

commit = true

)

Definition at line 50 of file cp_planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set BackwardPlanner");
 
  desired_planner_ = "UndoPathGlobalPlanner";
  desired_controller_ = "BackwardLocalPlanner";
 
  if (commit) commitPublish();
}

References commitPublish(), desired_controller_, desired_planner_, and smacc2::ISmaccComponent::getLogger().

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Member Data Documentation

controller_selector_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr cl_nav2z::CpPlannerSwitcher::controller_selector_pub_

private

Definition at line 66 of file cp_planner_switcher.hpp.

Referenced by commitPublish(), and onInitialize().

desired_controller_

std::string cl_nav2z::CpPlannerSwitcher::desired_controller_

private

Definition at line 60 of file cp_planner_switcher.hpp.

Referenced by commitPublish(), setBackwardPlanner(), setDefaultPlanners(), setDesiredController(), setForwardPlanner(), setPureSpinningPlanner(), and setUndoPathBackwardPlanner().

desired_planner_

std::string cl_nav2z::CpPlannerSwitcher::desired_planner_

private

Definition at line 58 of file cp_planner_switcher.hpp.

Referenced by commitPublish(), setBackwardPlanner(), setDefaultPlanners(), setDesiredGlobalPlanner(), setForwardPlanner(), setPureSpinningPlanner(), and setUndoPathBackwardPlanner().

goal_checker_selector_pub_

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

private

Definition at line 68 of file cp_planner_switcher.hpp.

planner_selector_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr cl_nav2z::CpPlannerSwitcher::planner_selector_pub_

private

Definition at line 64 of file cp_planner_switcher.hpp.

Referenced by commitPublish(), and onInitialize().

set_planners_mode_flag_

bool cl_nav2z::CpPlannerSwitcher::set_planners_mode_flag_

private

Definition at line 62 of file cp_planner_switcher.hpp.

---

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/planner_switcher/cp_planner_switcher.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/planner_switcher/cp_planner_switcher.cpp