cl_nav2z::CbNavigateBackwards Class Reference

#include <cb_navigate_backwards.hpp>

Inheritance diagram for cl_nav2z::CbNavigateBackwards:

Collaboration diagram for cl_nav2z::CbNavigateBackwards:

Public Member Functions
	CbNavigateBackwards (float backwardDistanceMeters)
void	onEntry () override
void	onExit () override
Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	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, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Public Attributes
float	backwardDistance
std::optional< float >	backwardSpeed
std::optional< std::string >	goalChecker_
cl_nav2z::odom_tracker::CpOdomTracker *	odomTracker_

Additional Inherited Members
Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
void	sendGoal (nav2_msgs::action::NavigateToPose::Goal &goal)
void	cancelGoal ()
template<typename T >
smacc2::SmaccSignalConnection	onNavigationSucceeded (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
template<typename T >
smacc2::SmaccSignalConnection	onNavigationAborted (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
template<typename T >
smacc2::SmaccSignalConnection	onNavigationCancelled (void(T::*callback)(const components::CpNav2ActionInterface::WrappedResult &), T *object)
virtual void	onNavigationResult (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)
virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::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
components::CpNav2ActionInterface *	nav2ActionInterface_ = nullptr
smacc2::client_core_components::CpActionClient< nav2_msgs::action::NavigateToPose > *	actionClient_ = nullptr
rclcpp_action::ResultCode	navigationResult_

Detailed Description

Definition at line 32 of file cb_navigate_backwards.hpp.

Constructor & Destructor Documentation

CbNavigateBackwards()

cl_nav2z::CbNavigateBackwards::CbNavigateBackwards

(

float

backwardDistanceMeters

)

Definition at line 35 of file cb_navigate_backward.cpp.

{
  if (backwardDistance < 0)
  {
    RCLCPP_ERROR(getLogger(), "[CbNavigateBackwards] distance must be greater or equal than 0");
    this->backwardDistance = 0;
  }
  this->backwardDistance = backwardDistance;
}

References backwardDistance, and smacc2::ISmaccClientBehavior::getLogger().

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Member Function Documentation

onEntry()

void cl_nav2z::CbNavigateBackwards::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 45 of file cb_navigate_backward.cpp.

{
  // straight motion distance
  double dist = backwardDistance;
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbNavigateBackwards] Straight backwards motion distance: " << dist);
 
  cl_nav2z::CpPose * p;
  this->requiresComponent(p, ComponentRequirement::HARD);
 
  auto referenceFrame = p->getReferenceFrame();
  auto currentPoseMsg = p->toPoseMsg();
  tf2::Transform currentPose;
  tf2::fromMsg(currentPoseMsg, currentPose);
 
  tf2::Transform backwardDeltaTransform;
  backwardDeltaTransform.setIdentity();
  backwardDeltaTransform.setOrigin(tf2::Vector3(-dist, 0, 0));
 
  tf2::Transform targetPose = currentPose * backwardDeltaTransform;
 
  nav2_msgs::action::NavigateToPose::Goal goal;
  goal.pose.header.frame_id = referenceFrame;
  tf2::toMsg(targetPose, goal.pose.pose);
  RCLCPP_INFO_STREAM(getLogger(), "[CbNavigateBackwards] TARGET POSE BACKWARDS: " << goal.pose);
 
  geometry_msgs::msg::PoseStamped currentStampedPoseMsg;
  currentStampedPoseMsg.header.frame_id = referenceFrame;
  currentStampedPoseMsg.header.stamp = getNode()->now();
  tf2::toMsg(currentPose, currentStampedPoseMsg.pose);
 
  CpOdomTracker * odomTracker_;
  requiresComponent(odomTracker_, ComponentRequirement::SOFT);
 
  if (odomTracker_ != nullptr)
  {
    this->odomTracker_->clearPath();
    this->odomTracker_->setStartPoint(currentStampedPoseMsg);
    this->odomTracker_->setWorkingMode(WorkingMode::RECORD_PATH);
  }
 
  CpPlannerSwitcher * plannerSwitcher;
  requiresComponent(plannerSwitcher, ComponentRequirement::HARD);
  plannerSwitcher->setBackwardPlanner();
 
  CpGoalCheckerSwitcher * goalCheckerSwitcher;
  requiresComponent(goalCheckerSwitcher, ComponentRequirement::HARD);
  goalCheckerSwitcher->setGoalCheckerId("backward_goal_checker");
 
  this->sendGoal(goal);
}

References backwardDistance, cl_nav2z::odom_tracker::CpOdomTracker::clearPath(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), cl_nav2z::CpPose::getReferenceFrame(), odomTracker_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal(), cl_nav2z::CpPlannerSwitcher::setBackwardPlanner(), cl_nav2z::CpGoalCheckerSwitcher::setGoalCheckerId(), cl_nav2z::odom_tracker::CpOdomTracker::setStartPoint(), cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode(), and cl_nav2z::CpPose::toPoseMsg().

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onExit()

void cl_nav2z::CbNavigateBackwards::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 98 of file cb_navigate_backward.cpp.

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

References odomTracker_, and cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode().

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Member Data Documentation

backwardDistance

float cl_nav2z::CbNavigateBackwards::backwardDistance

Definition at line 35 of file cb_navigate_backwards.hpp.

Referenced by CbNavigateBackwards(), and onEntry().

backwardSpeed

std::optional<float> cl_nav2z::CbNavigateBackwards::backwardSpeed

Definition at line 38 of file cb_navigate_backwards.hpp.

goalChecker_

std::optional<std::string> cl_nav2z::CbNavigateBackwards::goalChecker_

Definition at line 40 of file cb_navigate_backwards.hpp.

odomTracker_

cl_nav2z::odom_tracker::CpOdomTracker* cl_nav2z::CbNavigateBackwards::odomTracker_

Definition at line 42 of file cb_navigate_backwards.hpp.

Referenced by onEntry(), and onExit().

---

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

• smacc2_client_library/cl_nav2z/cl_nav2z/include/cl_nav2z/client_behaviors/cb_navigate_backwards.hpp
• smacc2_client_library/cl_nav2z/cl_nav2z/src/cl_nav2z/client_behaviors/cb_navigate_backward.cpp