#include <cb_navigate_forward.hpp>

Inheritance diagram for cl_nitrosz::CbNavigateForward:

Collaboration diagram for cl_nitrosz::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)

Public Member Functions inherited from cl_nitrosz::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
CbNavigateForwardOptions	options

Protected Attributes
odom_tracker::CpOdomTracker *	odomTracker_

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

std::optional< float >	forwardDistance_

Protected Attributes inherited from cl_nitrosz::CbNav2ZClientBehaviorBase
cl_nitrosz::ClNitrosZ *	nitroszClient_

cl_nitrosz::ClNitrosZ::SmaccNavigateResultSignal::SharedPtr	navigationCallback_

rclcpp_action::ResultCode	navigationResult_

std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > >	goalHandleFuture_

Additional Inherited Members
Protected Member Functions inherited from cl_nitrosz::CbNav2ZClientBehaviorBase
void	sendGoal (ClNitrosZ::Goal &goal)

void	cancelGoal ()

bool	isOwnActionResponse (const ClNitrosZ::WrappedResult &)

virtual void	onNavigationResult (const ClNitrosZ::WrappedResult &)

virtual void	onNavigationActionSuccess (const ClNitrosZ::WrappedResult &)

virtual void	onNavigationActionAbort (const ClNitrosZ::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() [1/3]

cl_nitrosz::CbNavigateForward::CbNavigateForward ( )

Definition at line 36 of file cb_navigate_forward.cpp.

36{}

◆ CbNavigateForward() [2/3]

cl_nitrosz::CbNavigateForward::CbNavigateForward ( float forwardDistance )

Definition at line 35 of file cb_navigate_forward.cpp.

35: forwardDistance_(distance_meters) {}

cl_nitrosz::CbNavigateForward::forwardDistance_

std::optional< float > forwardDistance_

Definition cb_navigate_forward.hpp:77

◆ CbNavigateForward() [3/3]

cl_nitrosz::CbNavigateForward::CbNavigateForward ( geometry_msgs::msg::PoseStamped goalPosition )

Definition at line 38 of file cb_navigate_forward.cpp.

38: goalPose_(goal) {}

cl_nitrosz::CbNavigateForward::goalPose_

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

Definition cb_navigate_forward.hpp:75

◆ ~CbNavigateForward()

cl_nitrosz::CbNavigateForward::~CbNavigateForward ( )

virtual

Definition at line 40 of file cb_navigate_forward.cpp.

40{}

Member Function Documentation

◆ onEntry()

void cl_nitrosz::CbNavigateForward::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 57 of file cb_navigate_forward.cpp.

{
  if (forwardDistance_)
  {
    setForwardDistance(*forwardDistance_);
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] Straight motion distance: " << *forwardDistance_);
  }
 
  // get current pose
  auto p = nitroszClient_->getComponent<Pose>();
  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
  ClNitrosZ::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);
 
  odomTracker_ = nitroszClient_->getComponent<CpOdomTracker>();
  if (odomTracker_ != nullptr)
  {
    auto pathname = this->getCurrentState()->getName() + " - " + getName();
    odomTracker_->pushPath(pathname);
    odomTracker_->setStartPoint(currentStampedPoseMsg);
    odomTracker_->setCurrentMotionGoal(goal.pose);
    odomTracker_->setWorkingMode(WorkingMode::RECORD_PATH);
  }
 
  auto plannerSwitcher = nitroszClient_->getComponent<CpPlannerSwitcher>();
  plannerSwitcher->setForwardPlanner();
 
  auto goalCheckerSwitcher = nitroszClient_->getComponent<CpGoalCheckerSwitcher>();
  goalCheckerSwitcher->setGoalCheckerId("forward_goal_checker");
 
  this->sendGoal(goal);
}

References cl_nitrosz::CbNavigateForwardOptions::forceInitialOrientation, forwardDistance_, smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getCurrentState(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccState::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_nitrosz::Pose::getReferenceFrame(), goalPose_, cl_nitrosz::CbNav2ZClientBehaviorBase::nitroszClient_, odomTracker_, options, cl_nitrosz::odom_tracker::CpOdomTracker::pushPath(), cl_nitrosz::CbNav2ZClientBehaviorBase::sendGoal(), cl_nitrosz::odom_tracker::CpOdomTracker::setCurrentMotionGoal(), setForwardDistance(), cl_nitrosz::CpPlannerSwitcher::setForwardPlanner(), cl_nitrosz::CpGoalCheckerSwitcher::setGoalCheckerId(), cl_nitrosz::odom_tracker::CpOdomTracker::setStartPoint(), and cl_nitrosz::odom_tracker::CpOdomTracker::setWorkingMode().

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◆ onExit()

void cl_nitrosz::CbNavigateForward::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 150 of file cb_navigate_forward.cpp.

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

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

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◆ setForwardDistance()

void cl_nitrosz::CbNavigateForward::setForwardDistance ( float distance_meters )

Definition at line 42 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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Member Data Documentation

◆ forwardDistance_

std::optional<float> cl_nitrosz::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_nitrosz::CbNavigateForward::goalPose_

protected

Definition at line 75 of file cb_navigate_forward.hpp.

Referenced by onEntry().

◆ odomTracker_

odom_tracker::CpOdomTracker* cl_nitrosz::CbNavigateForward::odomTracker_

protected

Definition at line 73 of file cb_navigate_forward.hpp.

Referenced by onEntry(), and onExit().

◆ options

CbNavigateForwardOptions cl_nitrosz::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/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_forward.hpp
smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_forward.cpp

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbNavigateForward() [1/3]

◆ CbNavigateForward() [2/3]

◆ CbNavigateForward() [3/3]

◆ ~CbNavigateForward()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ setForwardDistance()

Member Data Documentation

◆ forwardDistance_

◆ goalPose_

◆ odomTracker_

◆ options