cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner Class Reference

#include <undo_path_global_planner.hpp>

Inheritance diagram for cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner:

Collaboration diagram for cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner:

Public Member Functions
	UndoPathGlobalPlanner ()
virtual	~UndoPathGlobalPlanner ()
	Virtual destructor.
virtual void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)
virtual void	cleanup ()
	Method to cleanup resources used on shutdown.
virtual void	activate ()
	Method to active planner and any threads involved in execution.
virtual void	deactivate ()
	Method to deactivate planner and any threads involved in execution.
virtual nav_msgs::msg::Path	createPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, std::function< bool()> cancel_checker) override
	Method create the plan from a starting and ending goal.

Private Member Functions
void	onForwardTrailMsg (const nav_msgs::msg::Path::SharedPtr trailMessage)
void	publishGoalMarker (const geometry_msgs::msg::Pose &pose, double r, double g, double b)
void	clearGoalMarker ()
virtual void	createDefaultUndoPathPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, std::vector< geometry_msgs::msg::PoseStamped > &plan)

Private Attributes
rclcpp_lifecycle::LifecycleNode::SharedPtr	nh_
rclcpp::Subscription< nav_msgs::msg::Path >::SharedPtr	forwardPathSub_
rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path >::SharedPtr	planPub_
rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray >::SharedPtr	markersPub_
nav_msgs::msg::Path	lastForwardPathMsg_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
	stored but almost not used
double	skip_straight_motion_distance_
double	puresSpinningRadStep_
double	transform_tolerance_
std::string	name_
std::shared_ptr< tf2_ros::Buffer >	tf_

Detailed Description

Definition at line 33 of file undo_path_global_planner.hpp.

Constructor & Destructor Documentation

UndoPathGlobalPlanner()

cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::UndoPathGlobalPlanner

(

)

Constructor()

Definition at line 47 of file undo_path_global_planner.cpp.

{
  skip_straight_motion_distance_ = 0.2;
  transform_tolerance_ = 0.1;
}

References skip_straight_motion_distance_, and transform_tolerance_.

~UndoPathGlobalPlanner()

cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::~UndoPathGlobalPlanner ( )

virtual

Virtual destructor.

Definition at line 53 of file undo_path_global_planner.cpp.

{
  // clear "rviz"- publish empty path
  nav_msgs::msg::Path planMsg;
  planMsg.header.stamp = this->nh_->now();
  planPub_->publish(planMsg);
}

References nh_, and planPub_.

Member Function Documentation

activate()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::activate ( )

virtual

Method to active planner and any threads involved in execution.

Definition at line 63 of file undo_path_global_planner.cpp.

{
  RCLCPP_INFO_STREAM(nh_->get_logger(), "activating planner UndoPathGlobalPlanner");
  planPub_->on_activate();
  markersPub_->on_activate();
}

References markersPub_, nh_, and planPub_.

cleanup()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::cleanup ( )

virtual

Method to cleanup resources used on shutdown.

Definition at line 61 of file undo_path_global_planner.cpp.

{ this->clearGoalMarker(); }

References clearGoalMarker().

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clearGoalMarker()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::clearGoalMarker ( )

private

clearGoalMarker()

Definition at line 126 of file undo_path_global_planner.cpp.

{
  visualization_msgs::msg::Marker marker;
  marker.header.frame_id = this->costmap_ros_->getGlobalFrameID();
  marker.header.stamp = nh_->now();
  marker.ns = "my_namespace2";
  marker.id = 0;
  marker.action = visualization_msgs::msg::Marker::DELETEALL;
 
  visualization_msgs::msg::MarkerArray ma;
  ma.markers.push_back(marker);
  markersPub_->publish(ma);
}

References costmap_ros_, markersPub_, and nh_.

Referenced by cleanup(), and deactivate().

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configure()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros )

virtual

Parameters

parent	pointer to user's node
name	The name of this planner
tf	A pointer to a TF buffer
costmap_ros	A pointer to the costmap

initialize()

Definition at line 83 of file undo_path_global_planner.cpp.

{
  nh_ = parent.lock();
  costmap_ros_ = costmap_ros;
  tf_ = tf;
  name_ = name;
  // RCLCPP_WARN_NAMED(nh_->get_logger(), "Backwards", "initializing global planner, costmap address: %ld",
  // (long)costmap_ros);
 
  rclcpp::SensorDataQoS qos;
  qos.keep_last(2);
  forwardPathSub_ = nh_->create_subscription<nav_msgs::msg::Path>(
    "odom_tracker_path", qos,
    std::bind(&UndoPathGlobalPlanner::onForwardTrailMsg, this, std::placeholders::_1));
 
  planPub_ =
    nh_->create_publisher<nav_msgs::msg::Path>("undo_path_planner/global_plan", rclcpp::QoS(1));
  markersPub_ = nh_->create_publisher<visualization_msgs::msg::MarkerArray>(
    "undo_path_planner/markers", rclcpp::QoS(1));
 
  declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_);
}

References costmap_ros_, declareOrSet(), forwardPathSub_, markersPub_, name_, nh_, onForwardTrailMsg(), planPub_, tf_, and transform_tolerance_.

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createDefaultUndoPathPlan()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::createDefaultUndoPathPlan ( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal, std::vector< geometry_msgs::msg::PoseStamped > & plan )

privatevirtual

defaultBackwardPath()

Definition at line 188 of file undo_path_global_planner.cpp.

{
  //------------- TRANSFORM TO GLOBAL FRAME PATH ---------------------------
  // the forward plan might be recoreded in a different frame of the global (costmap) frame. Transform it.
  // transform global plan to the navigation reference frame
 
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Transforming forward path");
  nav_msgs::msg::Path transformedPlan;
  rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_);
  for (auto p : lastForwardPathMsg_.poses)
  {
    geometry_msgs::msg::PoseStamped transformedPose;
    p.header.stamp = nh_->now();  // otherwise we can get some time tolerance error
    transformedPose.header.stamp = nh_->now();
    transformedPose.header.frame_id = costmap_ros_->getGlobalFrameID();
    nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), p, transformedPose, ttol);
    transformedPlan.poses.push_back(transformedPose);
  }
 
  lastForwardPathMsg_ = transformedPlan;
  //---------------------------------------------------------------------------
 
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] finding goal closest point");
  // reverse index of the pose being examined in the first pass (the last pose
  // of the recorded forward path is the one closest to the robot now)
  int reverseIndex = lastForwardPathMsg_.poses.size() - 1;
  double linear_mindist = std::numeric_limits<double>::max();
  int mindistindex = -1;
  double startPoseAngle = tf2::getYaw(start.pose.orientation);
  geometry_msgs::msg::Pose startPositionProjected;
 
  // The goal of this code is finding the most convenient initial path pose.
  // first, find closest linear point to the current robot position
  // we start from the final goal, that is, the beginning of the trajectory
  // (since this was the forward motion from the odom tracker)
  for (auto & p : transformedPlan.poses /*| boost::adaptors::reversed*/)
  {
    geometry_msgs::msg::PoseStamped pose = p;
    pose.header.frame_id = costmap_ros_->getGlobalFrameID();
 
    double dx = pose.pose.position.x - start.pose.position.x;
    double dy = pose.pose.position.y - start.pose.position.y;
 
    double dist = sqrt(dx * dx + dy * dy);
    double angleOrientation = tf2::getYaw(pose.pose.orientation);
    double angleError = fabs(angles::shortest_angular_distance(angleOrientation, startPoseAngle));
    if (dist <= linear_mindist)
    {
      mindistindex = reverseIndex;
      linear_mindist = dist;
      startPositionProjected = pose.pose;
 
      RCLCPP_INFO_STREAM(
        nh_->get_logger(), "[UndoPathGlobalPlanner] initial start point search, NEWBEST_LINEAR= "
                             << reverseIndex << ". error, linear: " << linear_mindist
                             << ", angular: " << angleError);
    }
    else
    {
      RCLCPP_INFO_STREAM(
        nh_->get_logger(), "[UndoPathGlobalPlanner] initial start point search, skipped= "
                             << reverseIndex << ". best linear error: " << linear_mindist
                             << ". current error, linear: " << dist << " angular: " << angleError);
    }
 
    reverseIndex--;
  }
 
  double const ERROR_DISTANCE_PURE_SPINNING_FACTOR = 1.5;
  // Concept of second pass: now we only consider a pure spinning motion in this point. We want to consume some very
  // close angular targets, (accepting a larger linear minerror of 1.5 besterror. That is, more or less in the same
  // point).
 
  RCLCPP_INFO(nh_->get_logger(), "[UndoPathGlobalPlanner] second angular pass");
  double angularMinDist = std::numeric_limits<double>::max();
 
  if (mindistindex >= (int)transformedPlan.poses.size())
    mindistindex =
      transformedPlan.poses.size() -
      1;  // workaround, something is making a out of bound exception in poses array access
  {
    if (transformedPlan.poses.size() == 0)
    {
      RCLCPP_WARN_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Warning possible bug");
    }
 
    // ------- FULL FORWARD PASS TO FIND THE STARTING POINT OF THE FORWARD MOTION ------
    RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] second pass loop");
    for (int i = mindistindex; i >= 0; i--)
    {
      // warning this index, i refers to some inverse interpretation from the previous loop,
      // (last indexes in this path corresponds to the poses closer to our current position)
      RCLCPP_INFO_STREAM(
        nh_->get_logger(), "[UndoPathGlobalPlanner] " << i << "/" << transformedPlan.poses.size());
      auto index = (int)transformedPlan.poses.size() - i - 1;
      if (index < 0 || (size_t)index >= transformedPlan.poses.size())
      {
        RCLCPP_WARN_STREAM(
          nh_->get_logger(),
          "[UndoPathGlobalPlanner] this should not happen. Check implementation.");
        break;
      }
      geometry_msgs::msg::PoseStamped pose =
        transformedPlan.poses[transformedPlan.poses.size() - i - 1];
 
      RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] global frame");
      pose.header.frame_id = costmap_ros_->getGlobalFrameID();
 
      double dx = pose.pose.position.x - start.pose.position.x;
      double dy = pose.pose.position.y - start.pose.position.y;
 
      double dist = sqrt(dx * dx + dy * dy);
      if (dist <= linear_mindist * ERROR_DISTANCE_PURE_SPINNING_FACTOR)
      {
        double angleOrientation = tf2::getYaw(pose.pose.orientation);
        double angleError =
          fabs(angles::shortest_angular_distance(angleOrientation, startPoseAngle));
        if (angleError < angularMinDist)
        {
          angularMinDist = angleError;
          mindistindex = i;
          RCLCPP_INFO_STREAM(
            nh_->get_logger(),
            "[UndoPathGlobalPlanner] initial start point search (angular update), NEWBEST_ANGULAR= "
              << i << ". error, linear: " << dist << "(" << linear_mindist << ")"
              << ", angular: " << angleError << "(" << angularMinDist << ")");
        }
        else
        {
          RCLCPP_INFO_STREAM(
            nh_->get_logger(),
            "[UndoPathGlobalPlanner] initial start point search (angular update), skipped= "
              << i << ". error, linear: " << dist << "(" << linear_mindist << ")"
              << ", angular: " << angleError << "(" << angularMinDist << ")");
        }
      }
      else
      {
        RCLCPP_INFO_STREAM(
          nh_->get_logger(),
          "[UndoPathGlobalPlanner] initial start point search (angular update) not in linear "
          "range, skipped= "
            << i << " linear error: " << dist << "(" << linear_mindist << ")");
      }
    }
  }
 
  // REVERSE FORWARD PASS
  if (mindistindex != -1)
  {
    RCLCPP_WARN_STREAM(
      nh_->get_logger(),
      "[UndoPathGlobalPlanner] Creating the backwards plan from odom tracker path (, "
        << transformedPlan.poses.size() << ") poses");
 
    RCLCPP_WARN_STREAM(
      nh_->get_logger(), "[UndoPathGlobalPlanner] closer point to goal i="
                           << mindistindex << " (linear min dist " << linear_mindist << ")");
 
    // copy the path at the inverse direction, but only up to the closest point to the goal in the path  (for partial undoing)
    // NOTE: mindistindex lives in reverse-index space (passes above iterate with i counting
    // down while walking the array forward: reverse index m maps to array index N-1-m).
    // The emitted plan must start at the pose closest to the robot (array index
    // N-1-mindistindex) and walk back to the start of the recorded trail (array index 0),
    // which is the undo goal. When mindistindex == 0 (robot exactly at the trail tail)
    // this is identical to emitting the whole path reversed.
    //
    // Same-position rotation clusters at the goal end (the poses recorded while the
    // robot rotated in place before starting the forward motion) are pruned down to
    // the final goal pose: they carry no positional information for the backward
    // controller and destabilize the carrot/goal-checker endgame.
    const double SAME_POSITION_PRUNE_DISTANCE = 0.02;
    const auto & goalPosition = transformedPlan.poses.front().pose.position;
    for (int i = (int)transformedPlan.poses.size() - 1 - mindistindex; i >= 0; i--)
    {
      auto & pose = transformedPlan.poses[i];
 
      if (i != 0)
      {
        double gdx = pose.pose.position.x - goalPosition.x;
        double gdy = pose.pose.position.y - goalPosition.y;
        if (sqrt(gdx * gdx + gdy * gdy) < SAME_POSITION_PRUNE_DISTANCE)
        {
          // part of the in-place rotation cluster at the goal: skip, keep only i == 0
          continue;
        }
      }
 
      rclcpp::Time t(pose.header.stamp);
 
      RCLCPP_INFO_STREAM(
        nh_->get_logger(),
        "[UndoPathGlobalPlanner] adding to plan i = " << i << " stamp:" << t.seconds());
      plan.push_back(pose);
    }
    RCLCPP_WARN_STREAM(
      nh_->get_logger(), "[UndoPathGlobalPlanner] refined plan has " << plan.size() << "  points");
  }
  else
  {
    RCLCPP_ERROR_STREAM(
      nh_->get_logger(), "[UndoPathGlobalPlanner ] undo global plan size:  " << plan.size());
  }
}

References costmap_ros_, lastForwardPathMsg_, nh_, tf_, and transform_tolerance_.

Referenced by createPlan().

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createPlan()

nav_msgs::msg::Path cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::createPlan ( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal, std::function< bool()> cancel_checker )

overridevirtual

Method create the plan from a starting and ending goal.

Parameters

start	The starting pose of the robot
goal	The goal pose of the robot
cancel_checker	Function to check if planning should be cancelled

Returns

The sequence of poses to get from start to goal, if any

makePlan()

Definition at line 400 of file undo_path_global_planner.cpp.

{
  // -------------- BASIC CHECKS ---------------------
 
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Undo global plan start ");
  nav_msgs::msg::Path planMsg;
  std::vector<geometry_msgs::msg::PoseStamped> & plan = planMsg.poses;
 
  RCLCPP_INFO_STREAM(
    nh_->get_logger(),
    "[UndoPathGlobalPlanner] last forward path msg size: " << lastForwardPathMsg_.poses.size());
 
  if (lastForwardPathMsg_.poses.size() == 0)
  {
    RCLCPP_WARN_STREAM(
      nh_->get_logger(),
      "[UndoPathGlobalPlanner] no forward path received yet (odom_tracker_path), returning "
      "empty plan");
    return planMsg;
  }
 
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[UndoPathGlobalPlanner] last forward path frame id: "
                         << lastForwardPathMsg_.poses.front().header.frame_id);
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[UndoPathGlobalPlanner] start pose frame id: " << start.header.frame_id);
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[UndoPathGlobalPlanner] goal pose frame id: " << goal.header.frame_id);
 
  // ---------- INPUTS ACCOMMODATION -------------------
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Inputs accommodation");
  geometry_msgs::msg::PoseStamped transformedStart, transformedGoal;
  {
    rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_);
 
    geometry_msgs::msg::PoseStamped pstart = start;
    pstart.header.stamp = nh_->now();
    nav_2d_utils::transformPose(
      tf_, costmap_ros_->getGlobalFrameID(), pstart, transformedStart, ttol);
    transformedStart.header.frame_id = costmap_ros_->getGlobalFrameID();
 
    //--------------- FORCE GOAL POSE----------------------------
    RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Forced goal");
    auto forcedGoal =
      lastForwardPathMsg_.poses[lastForwardPathMsg_.poses.size() - 1];  // FORCE LAST POSE
    forcedGoal.header.stamp = nh_->now();
    nav_2d_utils::transformPose(
      tf_, costmap_ros_->getGlobalFrameID(), forcedGoal, transformedGoal, ttol);
    transformedGoal.header.frame_id = costmap_ros_->getGlobalFrameID();
  }
 
  //------------- CREATING GLOBAL PLAN -----------------------------------------------
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Creating undo plan");
  this->createDefaultUndoPathPlan(transformedStart, transformedGoal, plan);
  planMsg.header.frame_id = this->costmap_ros_->getGlobalFrameID();
 
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] publishing goal markers");
  publishGoalMarker(plan.back().pose, 1.0, 0, 1.0 /*purple color*/);
 
  //--------  CHECKING VALID PLAN ------------------------------------
  bool acceptedGlobalPlan = true;
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] valid plan checking");
 
  auto costmap2d = this->costmap_ros_->getCostmap();
  for (auto & p : plan)
  {
    unsigned int mx, my;
    costmap2d->worldToMap(p.pose.position.x, p.pose.position.y, mx, my);
    auto cost = costmap2d->getCost(mx, my);
 
    if (cost >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)
    {
      acceptedGlobalPlan = false;
      break;
    }
  }
 
  //--------  PUBLISHING RESULTS ---------------------------------------
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[UndoPathGlobalPlanner] plan publishing. size: " << plan.size());
  planPub_->publish(planMsg);
  if (!acceptedGlobalPlan)
  {
    RCLCPP_INFO(
      nh_->get_logger(),
      "[UndoPathGlobalPlanner] not accepted global plan because of possible collision");
  }
 
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[UndoPathGlobalPlanner] plan publishing. size: " << planMsg.poses.size());
 
  return planMsg;
}

References costmap_ros_, createDefaultUndoPathPlan(), lastForwardPathMsg_, nh_, planPub_, publishGoalMarker(), tf_, and transform_tolerance_.

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deactivate()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::deactivate ( )

virtual

Method to deactivate planner and any threads involved in execution.

Definition at line 70 of file undo_path_global_planner.cpp.

{
  RCLCPP_INFO_STREAM(nh_->get_logger(), "deactivating planner UndoPathGlobalPlanner");
  this->clearGoalMarker();
  planPub_->on_deactivate();
  markersPub_->on_deactivate();
}

References clearGoalMarker(), markersPub_, nh_, and planPub_.

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onForwardTrailMsg()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::onForwardTrailMsg ( const nav_msgs::msg::Path::SharedPtr forwardPath )

private

onForwardTrailMsg()

Definition at line 112 of file undo_path_global_planner.cpp.

{
  lastForwardPathMsg_ = *forwardPath;
  RCLCPP_INFO_STREAM_THROTTLE(
    nh_->get_logger(), *nh_, 1000,
    "[UndoPathGlobalPlanner] received backward path msg poses [" << lastForwardPathMsg_.poses.size()
                                                                 << "]");
}

References lastForwardPathMsg_, and nh_.

Referenced by configure().

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publishGoalMarker()

void cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::publishGoalMarker ( const geometry_msgs::msg::Pose & pose, double r, double g, double b )

private

publishGoalMarker()

Definition at line 145 of file undo_path_global_planner.cpp.

{
  double phi = tf2::getYaw(pose.orientation);
 
  visualization_msgs::msg::Marker marker;
  marker.header.frame_id = this->costmap_ros_->getGlobalFrameID();
  marker.header.stamp = nh_->now();
  marker.ns = "my_namespace2";
  marker.id = 0;
  marker.type = visualization_msgs::msg::Marker::ARROW;
  marker.action = visualization_msgs::msg::Marker::ADD;
  marker.scale.x = 0.1;
  marker.scale.y = 0.3;
  marker.scale.z = 0.1;
  marker.color.a = 1.0;
 
  marker.color.r = r;
  marker.color.g = g;
  marker.color.b = b;
 
  marker.lifetime = rclcpp::Duration(0s);
 
  geometry_msgs::msg::Point start, end;
  start.x = pose.position.x;
  start.y = pose.position.y;
 
  end.x = pose.position.x + 0.5 * cos(phi);
  end.y = pose.position.y + 0.5 * sin(phi);
 
  marker.points.push_back(start);
  marker.points.push_back(end);
 
  visualization_msgs::msg::MarkerArray ma;
  ma.markers.push_back(marker);
 
  markersPub_->publish(ma);
}

References costmap_ros_, markersPub_, and nh_.

Referenced by createPlan().

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Member Data Documentation

costmap_ros_

std::shared_ptr<nav2_costmap_2d::Costmap2DROS> cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::costmap_ros_

private

stored but almost not used

Definition at line 91 of file undo_path_global_planner.hpp.

Referenced by clearGoalMarker(), configure(), createDefaultUndoPathPlan(), createPlan(), and publishGoalMarker().

forwardPathSub_

rclcpp::Subscription<nav_msgs::msg::Path>::SharedPtr cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::forwardPathSub_

private

Definition at line 82 of file undo_path_global_planner.hpp.

Referenced by configure().

lastForwardPathMsg_

nav_msgs::msg::Path cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::lastForwardPathMsg_

private

Definition at line 88 of file undo_path_global_planner.hpp.

Referenced by createDefaultUndoPathPlan(), createPlan(), and onForwardTrailMsg().

markersPub_

rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>::SharedPtr cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::markersPub_

private

Definition at line 86 of file undo_path_global_planner.hpp.

Referenced by activate(), clearGoalMarker(), configure(), deactivate(), and publishGoalMarker().

name_

std::string cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::name_

private

Definition at line 109 of file undo_path_global_planner.hpp.

Referenced by configure().

nh_

rclcpp_lifecycle::LifecycleNode::SharedPtr cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::nh_

private

Definition at line 81 of file undo_path_global_planner.hpp.

Referenced by activate(), clearGoalMarker(), configure(), createDefaultUndoPathPlan(), createPlan(), deactivate(), onForwardTrailMsg(), publishGoalMarker(), and ~UndoPathGlobalPlanner().

planPub_

rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::planPub_

private

Definition at line 84 of file undo_path_global_planner.hpp.

Referenced by activate(), configure(), createPlan(), deactivate(), and ~UndoPathGlobalPlanner().

puresSpinningRadStep_

double cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::puresSpinningRadStep_

private

Definition at line 105 of file undo_path_global_planner.hpp.

skip_straight_motion_distance_

double cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::skip_straight_motion_distance_

private

Definition at line 103 of file undo_path_global_planner.hpp.

Referenced by UndoPathGlobalPlanner().

tf_

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::tf_

private

Definition at line 111 of file undo_path_global_planner.hpp.

Referenced by configure(), createDefaultUndoPathPlan(), and createPlan().

transform_tolerance_

double cl_nav2z::undo_path_global_planner::UndoPathGlobalPlanner::transform_tolerance_

private

Definition at line 107 of file undo_path_global_planner.hpp.

Referenced by configure(), createDefaultUndoPathPlan(), createPlan(), and UndoPathGlobalPlanner().

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

• smacc2_client_library/cl_nav2z/custom_planners/undo_path_global_planner/include/undo_path_global_planner/undo_path_global_planner.hpp
• smacc2_client_library/cl_nav2z/custom_planners/undo_path_global_planner/src/undo_path_global_planner/undo_path_global_planner.cpp