cl_nav2z::CbUndoPathBackwards Class Reference

#include <cb_undo_path_backwards.hpp>

Inheritance diagram for cl_nav2z::CbUndoPathBackwards:

Collaboration diagram for cl_nav2z::CbUndoPathBackwards:

Public Member Functions
	CbUndoPathBackwards (std::optional< CbUndoPathBackwardsOptions > options=std::nullopt)
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)

Private Attributes
std::shared_ptr< tf2_ros::Buffer >	listener
CpOdomTracker *	odomTracker
std::optional< CbUndoPathBackwardsOptions >	options_

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 40 of file cb_undo_path_backwards.hpp.

Constructor & Destructor Documentation

CbUndoPathBackwards()

cl_nav2z::CbUndoPathBackwards::CbUndoPathBackwards

(

std::optional< CbUndoPathBackwardsOptions >

options = std::nullopt

)

Definition at line 34 of file cb_undo_path_backwards.cpp.

{
  options_ = options;
}

References options_.

Member Function Documentation

onEntry()

void cl_nav2z::CbUndoPathBackwards::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 39 of file cb_undo_path_backwards.cpp.

{
  listener = std::make_shared<tf2_ros::Buffer>(this->getNode()->get_clock());
  requiresComponent(odomTracker, ComponentRequirement::HARD);
 
  odomTracker->logStateString(false);
 
  CpPlannerSwitcher * plannerSwitcher;
  requiresComponent(plannerSwitcher, ComponentRequirement::HARD);
 
  nav_msgs::msg::Path forwardpath = odomTracker->getPath();
  // RCLCPP_INFO_STREAM(getLogger(),"[UndoPathBackward] Current path backwards: " << forwardpath);
 
  odomTracker->setWorkingMode(WorkingMode::CLEAR_PATH);
 
  nav2_msgs::action::NavigateToPose::Goal goal;
 
  CpGoalCheckerSwitcher * goalCheckerSwitcher;
  requiresComponent(goalCheckerSwitcher, ComponentRequirement::HARD);
 
  if (forwardpath.poses.size() > 0)
  {
    goal.pose = forwardpath.poses.front();
    goal.pose.header.stamp = rclcpp::Time(0);
 
    if (options_ && options_->undoControllerName_)
    {
      plannerSwitcher->setUndoPathBackwardPlanner(false);
      RCLCPP_INFO_STREAM(
        getLogger(),
        "[" << getName() << "] Undoing path with controller: " << *options_->undoControllerName_);
      plannerSwitcher->setDesiredController(*options_->undoControllerName_);
      plannerSwitcher->commitPublish();
    }
    else
    {
      plannerSwitcher->setUndoPathBackwardPlanner();
    }
 
    // WARNING: There might be some race condition with the remote undo global planner/controller were the global path was not
    // received yet, thee goal switcher
    // TODO: waiting notification from global planner that it is loaded
 
    RCLCPP_ERROR_STREAM(
      getLogger(), "[" << getName()
                       << "] Waiting for 5 seconds to get planer/controller and wait goal checker "
                          "ready");
 
    RCLCPP_ERROR_STREAM(getLogger(), "[" << getName() << "] activating undo navigation planner");
 
    if (options_ && options_->goalCheckerId_)
    {
      goalCheckerSwitcher->setGoalCheckerId(*options_->goalCheckerId_);
    }
    else
    {
      goalCheckerSwitcher->setGoalCheckerId("undo_path_backwards_goal_checker");
    }
 
    this->sendGoal(goal);
  }
}

References cl_nav2z::CpPlannerSwitcher::commitPublish(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_nav2z::odom_tracker::CpOdomTracker::getPath(), listener, cl_nav2z::odom_tracker::CpOdomTracker::logStateString(), odomTracker, options_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal(), cl_nav2z::CpPlannerSwitcher::setDesiredController(), cl_nav2z::CpGoalCheckerSwitcher::setGoalCheckerId(), cl_nav2z::CpPlannerSwitcher::setUndoPathBackwardPlanner(), and cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode().

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onExit()

void cl_nav2z::CbUndoPathBackwards::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 102 of file cb_undo_path_backwards.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Exiting: undo navigation ");
 
  if (this->navigationResult_ == rclcpp_action::ResultCode::SUCCEEDED)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation successful, "
                                "popping odom tracker path");
 
    requiresComponent(odomTracker, ComponentRequirement::HARD);
    odomTracker->popPath();
 
    odomTracker->logStateString(false);
  }
  else
  {
    RCLCPP_INFO_STREAM(
      getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation abort, avoiding "
                                "popping current path");
 
    requiresComponent(odomTracker, ComponentRequirement::HARD);
    odomTracker->logStateString(false);
    // navigation interrupted or aborted. The path may be not totally undone.
    // We keep the odom tracker in its current state, probably in the middle of the undoing process.
    // Could you try to repeat the behavior?
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_nav2z::odom_tracker::CpOdomTracker::logStateString(), cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_, odomTracker, cl_nav2z::odom_tracker::CpOdomTracker::popPath(), and smacc2::ISmaccClientBehavior::requiresComponent().

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Member Data Documentation

listener

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::CbUndoPathBackwards::listener

private

Definition at line 50 of file cb_undo_path_backwards.hpp.

Referenced by onEntry().

odomTracker

CpOdomTracker* cl_nav2z::CbUndoPathBackwards::odomTracker

private

Definition at line 52 of file cb_undo_path_backwards.hpp.

Referenced by onEntry(), and onExit().

options_

std::optional<CbUndoPathBackwardsOptions> cl_nav2z::CbUndoPathBackwards::options_

private

Definition at line 54 of file cb_undo_path_backwards.hpp.

Referenced by CbUndoPathBackwards(), and onEntry().

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

• smacc2_client_library/cl_nav2z/cl_nav2z/include/cl_nav2z/client_behaviors/cb_undo_path_backwards.hpp
• smacc2_client_library/cl_nav2z/cl_nav2z/src/cl_nav2z/client_behaviors/cb_undo_path_backwards.cpp