Namespaces
namespace	backward_global_planner

namespace	backward_local_planner

namespace	components

namespace	forward_global_planner

namespace	forward_local_planner

namespace	odom_tracker

namespace	pure_spinning_local_planner

namespace	undo_path_global_planner

Classes
class	CbAbortNavigation

class	CbAbsoluteRotate

struct	CbActiveStop

struct	CbLoadWaypointsFile

class	CbNav2ZClientBehaviorBase

class	CbNavigateBackwards

class	CbNavigateForward

struct	CbNavigateForwardOptions

class	CbNavigateGlobalPosition

struct	CbNavigateGlobalPositionOptions

class	CbNavigateNamedWaypoint

class	CbNavigateNextWaypoint

class	CbNavigateNextWaypointFree

class	CbNavigateNextWaypointUntilReached

class	CbPauseSlam

struct	CbPositionControlFreeSpace

struct	CbPureSpinning

class	CbResumeSlam

class	CbRetry

class	CbRotate

class	CbRotateLookAt

struct	CbSaveSlamMap

class	CbSeekWaypoint

struct	CbSpiralMotion

struct	CbSpiralMotionOptions

class	CbStopNavigation

struct	CbTrackPathOdometry

struct	CbTrackPathSLAM

class	CbUndoPathBackwards

struct	CbUndoPathBackwardsOptions

class	CbWaitNav2Nodes

class	CbWaitPose

class	CbWaitTransform

class	ClNav2Z

class	CpAmcl

class	CpCostmapProxy

class	CpCostmapSwitch

class	CpGoalCheckerSwitcher

class	CpPlannerSwitcher

class	CpPose

class	CpSlamToolbox

class	CpWaypointNavigator

class	CpWaypointNavigatorBase

class	CpWaypointsVisualizer

struct	EvGoalWaypointReached

struct	EvWaypointFinal

struct	NavigateNextWaypointOptions

struct	Pose2D

Typedefs
template<typename TService >
using	CbServiceCall = smacc2::client_behaviors::CbServiceCall<TService>

Enumerations
enum class	SpinningPlanner { Default , PureSpinning , Forward }

enum class	Nav2Nodes { PlannerServer , ControllerServer , RecoveriesServer , BtNavigator , MapServer , None }

enum class	WaitPoseStandardReferenceFrame { Map , Odometry }

enum class	StandardReferenceFrames { Map , Odometry }

Functions
std::string	toString (Nav2Nodes value)

Nav2Nodes	fromString (std::string str)

std::string	referenceFrameToString (StandardReferenceFrames referenceFrame)

geometry_msgs::msg::PoseStamped	makePureSpinningSubPlan (const geometry_msgs::msg::PoseStamped &start, double dstRads, std::vector< geometry_msgs::msg::PoseStamped > &plan, double radstep=0.005)

geometry_msgs::msg::PoseStamped	makePureStraightSubPlan (const geometry_msgs::msg::PoseStamped &startOrientedPose, const geometry_msgs::msg::Point &goal, double length, std::vector< geometry_msgs::msg::PoseStamped > &plan)

Variables
const std::string	frameid = "map"

Typedef Documentation

◆ CbServiceCall

template<typename TService >

using cl_nav2z::CbServiceCall = smacc2::client_behaviors::CbServiceCall<TService>

Definition at line 33 of file cb_save_slam_map.hpp.

Enumeration Type Documentation

◆ Nav2Nodes

enum class cl_nav2z::Nav2Nodes

strong

Enumerator
PlannerServer
ControllerServer
RecoveriesServer
BtNavigator
MapServer
None

Definition at line 29 of file cb_wait_nav2_nodes.hpp.

{
  PlannerServer,
  ControllerServer,
  RecoveriesServer,
  BtNavigator,
  MapServer,
  None
};

◆ SpinningPlanner

enum class cl_nav2z::SpinningPlanner

strong

Enumerator
Default
PureSpinning
Forward

Definition at line 113 of file cb_nav2z_client_behavior_base.hpp.

{
  Default,
  PureSpinning,
  Forward
};

◆ StandardReferenceFrames

enum class cl_nav2z::StandardReferenceFrames

strong

Enumerator
Map
Odometry

Definition at line 37 of file cp_pose.hpp.

{
  Map,
  Odometry
};

◆ WaitPoseStandardReferenceFrame

enum class cl_nav2z::WaitPoseStandardReferenceFrame

strong

Enumerator
Map
Odometry

Definition at line 28 of file cb_wait_pose.hpp.

{
  Map,
  Odometry
};

Function Documentation

◆ fromString()

Nav2Nodes cl_nav2z::fromString ( std::string str )

Definition at line 116 of file cb_wait_nav2_nodes.cpp.

{
  if (id == "planner_server")
    return Nav2Nodes::PlannerServer;
  else if (id == "controller_server")
    return Nav2Nodes::ControllerServer;
  else if (id == "behavior_server")
    return Nav2Nodes::RecoveriesServer;
  else if (id == "bt_navigator")
    return Nav2Nodes::BtNavigator;
  else if (id == "map_server")
    return Nav2Nodes::MapServer;
  else
    return Nav2Nodes::None;
}

References BtNavigator, ControllerServer, MapServer, None, PlannerServer, and RecoveriesServer.

Referenced by cl_nav2z::CbWaitNav2Nodes::onMessageReceived().

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◆ makePureSpinningSubPlan()

geometry_msgs::msg::PoseStamped cl_nav2z::makePureSpinningSubPlan	(	const geometry_msgs::msg::PoseStamped &	start,
		double	dstRads,
		std::vector< geometry_msgs::msg::PoseStamped > &	plan,
		double	radstep = 0.005 )

Definition at line 36 of file common.cpp.

{
  double startYaw = tf2::getYaw(start.pose.orientation);
  // RCLCPP_INFO(getLogger(),"pure spinning start yaw: %lf", startYaw);
  // RCLCPP_INFO(getLogger(),"pure spinning goal yaw: %lf", dstRads);
  // RCLCPP_WARN_STREAM(getLogger(),"pure spinning start pose: " << start);
 
  double goalAngleOffset = angles::shortest_angular_distance(startYaw, dstRads);
  // RCLCPP_INFO(getLogger(),"shortest angle: %lf", goalAngleOffset);
 
  if (goalAngleOffset >= 0)
  {
    // angle positive turn counterclockwise
    // RCLCPP_INFO(getLogger(),"pure spinning counterclockwise");
    for (double dangle = 0; dangle <= goalAngleOffset; dangle += radstep)
    {
      geometry_msgs::msg::PoseStamped p = start;
      double yaw = startYaw + dangle;
      // RCLCPP_INFO(getLogger(),"pure spinning counterclockwise, current path yaw: %lf, dangle: %lf,
      // angleoffset %lf, radstep %lf pathsize(%ld)", yaw, dangle, goalAngleOffset, radstep, plan.size());
      tf2::Quaternion q;
      q.setRPY(0, 0, yaw);
      p.pose.orientation = tf2::toMsg(q);
      plan.push_back(p);
    }
  }
  else
  {
    // angle positive turn clockwise
    // RCLCPP_INFO(getLogger(),"pure spinning clockwise");
    for (double dangle = 0; dangle >= goalAngleOffset; dangle -= radstep)
    {
      // RCLCPP_INFO(getLogger(),"dangle: %lf", dangle);
      geometry_msgs::msg::PoseStamped p = start;
      double yaw = startYaw + dangle;
      // RCLCPP_INFO(getLogger(),"pure spinning clockwise, yaw: %lf, dangle: %lf, angleoffset %lf radstep
      // %lf", yaw, dangle, goalAngleOffset,radstep);
      tf2::Quaternion q;
      q.setRPY(0, 0, yaw);
      p.pose.orientation = tf2::toMsg(q);
      plan.push_back(p);
    }
  }
 
  // RCLCPP_INFO(getLogger(),"pure spinning end yaw: %lf", dstRads);
  geometry_msgs::msg::PoseStamped end = start;
  tf2::Quaternion q;
  q.setRPY(0, 0, dstRads);
  end.pose.orientation = tf2::toMsg(q);
  plan.push_back(end);
 
  return end;
}

Referenced by cl_nav2z::backward_global_planner::BackwardGlobalPlanner::createDefaultBackwardPath(), and cl_nav2z::forward_global_planner::ForwardGlobalPlanner::createPlan().

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◆ makePureStraightSubPlan()

geometry_msgs::msg::PoseStamped cl_nav2z::makePureStraightSubPlan	(	const geometry_msgs::msg::PoseStamped &	startOrientedPose,
		const geometry_msgs::msg::Point &	goal,
		double	length,
		std::vector< geometry_msgs::msg::PoseStamped > &	plan )

Definition at line 92 of file common.cpp.

{
  double dx = 0.01;  // 1 cm
  double steps = length / dx;
  double dt = 1.0 / steps;
 
  plan.push_back(startOrientedPose);
 
  for (double t = 0; t <= 1.0; t += dt)
  {
    geometry_msgs::msg::PoseStamped p = startOrientedPose;
 
    p.pose.position.x = startOrientedPose.pose.position.x * (1 - t) + goal.x * t;
    p.pose.position.y = startOrientedPose.pose.position.y * (1 - t) + goal.y * t;
    p.pose.orientation = startOrientedPose.pose.orientation;
 
    plan.push_back(p);
  }
 
  return plan.back();
}

Referenced by cl_nav2z::backward_global_planner::BackwardGlobalPlanner::createDefaultBackwardPath(), and cl_nav2z::forward_global_planner::ForwardGlobalPlanner::createPlan().

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◆ referenceFrameToString()

std::string cl_nav2z::referenceFrameToString ( StandardReferenceFrames referenceFrame )

Definition at line 42 of file cp_pose.cpp.

{
  switch (referenceFrame)
  {
    case StandardReferenceFrames::Map:
      return "map";
    case StandardReferenceFrames::Odometry:
      return "odom";
    default:
      return "odom";
  }
}

References Map, and Odometry.

◆ toString()

std::string cl_nav2z::toString ( Nav2Nodes value )

Definition at line 97 of file cb_wait_nav2_nodes.cpp.

{
  switch (value)
  {
    case Nav2Nodes::PlannerServer:
      return "planner_server";
    case Nav2Nodes::ControllerServer:
      return "controller_server";
    case Nav2Nodes::RecoveriesServer:
      return "behavior_server";
    case Nav2Nodes::BtNavigator:
      return "bt_navigator";
    case Nav2Nodes::MapServer:
      return "map_server";
    default:
      return "";
  }
}