#include <cb_active_stop.hpp>

Inheritance diagram for cl_nav2z::CbActiveStop:

Collaboration diagram for cl_nav2z::CbActiveStop:

Public Member Functions
	CbActiveStop ()

void	onEntry () override

void	onExit () override

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)

Private Attributes
rclcpp::Publisher< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_pub_

Additional Inherited Members
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 28 of file cb_active_stop.hpp.

Constructor & Destructor Documentation

◆ CbActiveStop()

cl_nav2z::CbActiveStop::CbActiveStop ( )

Definition at line 29 of file cb_active_stop.cpp.

29{}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbActiveStop::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 31 of file cb_active_stop.cpp.

{
  auto nh = this->getNode();
  cmd_vel_pub_ = nh->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", rclcpp::QoS(1));
 
  rclcpp::Rate loop_rate(5);
  geometry_msgs::msg::Twist cmd_vel_msg;
  while (!this->isShutdownRequested())
  {
    cmd_vel_msg.linear.x = 0;
    cmd_vel_msg.angular.z = 0;
 
    cmd_vel_pub_->publish(cmd_vel_msg);
    loop_rate.sleep();
  }
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Finished behavior execution");
 
  this->postSuccessEvent();
}

References cmd_vel_pub_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

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◆ onExit()

void cl_nav2z::CbActiveStop::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 51 of file cb_active_stop.cpp.

51{}

Member Data Documentation

◆ cmd_vel_pub_

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cl_nav2z::CbActiveStop::cmd_vel_pub_

private

Definition at line 31 of file cb_active_stop.hpp.

Referenced by onEntry().

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

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

Public Member Functions

Private Attributes

Additional Inherited Members