cl_nav2z::CbNavigateGlobalPosition Class Reference

#include <cb_navigate_global_position.hpp>

Inheritance diagram for cl_nav2z::CbNavigateGlobalPosition:

Collaboration diagram for cl_nav2z::CbNavigateGlobalPosition:

Public Member Functions
	CbNavigateGlobalPosition ()
	CbNavigateGlobalPosition (float x, float y, float yaw)
void	setGoal (const geometry_msgs::msg::Pose &pose)
virtual void	onEntry () override
void	onExit () override
void	execute ()
Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
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)
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)

Public Attributes
geometry_msgs::msg::Point	goalPosition
float	goalYaw
std::optional< float >	yawTolerance
std::optional< float >	yawToleranceX
std::optional< float >	yawToleranceY
std::optional< std::string >	goalChecker_

Private Member Functions
void	readStartPoseFromParameterServer (ClNav2Z::Goal &goal)

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()
Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Z *	moveBaseClient_
rclcpp_action::ResultCode	navigationResult_

Detailed Description

Definition at line 29 of file cb_navigate_global_position.hpp.

Constructor & Destructor Documentation

CbNavigateGlobalPosition() [1/2]

cl_nav2z::CbNavigateGlobalPosition::CbNavigateGlobalPosition

(

)

CbNavigateGlobalPosition() [2/2]

cl_nav2z::CbNavigateGlobalPosition::CbNavigateGlobalPosition	(	float	x,
		float	y,
		float	yaw
	)

Definition at line 32 of file cb_navigate_global_position.cpp.

{
  auto p = geometry_msgs::msg::Point();
  p.x = x;
  p.y = y;
  goalPosition = p;
  goalYaw = yaw;
}

References goalPosition, and goalYaw.

Member Function Documentation

execute()

void cl_nav2z::CbNavigateGlobalPosition::execute

(

)

Definition at line 70 of file cb_navigate_global_position.cpp.

{
  auto p = moveBaseClient_->getComponent<cl_nav2z::Pose>();
  auto referenceFrame = p->getReferenceFrame();
  // auto currentPoseMsg = p->toPoseMsg();
 
  RCLCPP_INFO(getLogger(), "Sending Goal to MoveBase");
  ClNav2Z::Goal goal;
  goal.pose.header.frame_id = referenceFrame;
  goal.pose.header.stamp = getNode()->now();
 
  goal.pose.pose.position = goalPosition;
  tf2::Quaternion q;
  q.setRPY(0, 0, goalYaw);
  goal.pose.pose.orientation = tf2::toMsg(q);
  // store the start pose on the state machine storage so that it can
  // be referenced from other states (for example return to radial start)
  this->getStateMachine()->setGlobalSMData("radial_start_pose", goal.pose);
 
  moveBaseClient_->sendGoal(goal);
}

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), cl_nav2z::Pose::getReferenceFrame(), smacc2::ISmaccClientBehavior::getStateMachine(), goalPosition, goalYaw, cl_nav2z::CbNav2ZClientBehaviorBase::moveBaseClient_, smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal(), and smacc2::ISmaccStateMachine::setGlobalSMData().

Referenced by onEntry().

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onEntry()

void cl_nav2z::CbNavigateGlobalPosition::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 47 of file cb_navigate_global_position.cpp.

{
  RCLCPP_INFO(getLogger(), "Entering Navigate Global position");
  RCLCPP_INFO(getLogger(), "Component requirements completed");
 
  auto pose = moveBaseClient_->getComponent<cl_nav2z::Pose>()->toPoseMsg();
  auto * odomTracker = moveBaseClient_->getComponent<OdomTracker>();
 
  auto plannerSwitcher = moveBaseClient_->getComponent<PlannerSwitcher>();
  plannerSwitcher->setDefaultPlanners();
 
  auto goalCheckerSwitcher = moveBaseClient_->getComponent<GoalCheckerSwitcher>();
  goalCheckerSwitcher->setGoalCheckerId("goal_checker");
 
  auto pathname = this->getCurrentState()->getName() + " - " + getName();
  odomTracker->pushPath(pathname);
  odomTracker->setStartPoint(pose);
  odomTracker->setWorkingMode(WorkingMode::RECORD_PATH);
 
  execute();
}

References execute(), smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getCurrentState(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccState::getName(), cl_nav2z::CbNav2ZClientBehaviorBase::moveBaseClient_, and cl_nav2z::GoalCheckerSwitcher::setGoalCheckerId().

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onExit()

void cl_nav2z::CbNavigateGlobalPosition::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 94 of file cb_navigate_global_position.cpp.

{
  RCLCPP_INFO(getLogger(), "Exiting move goal Action Client");
}

References smacc2::ISmaccClientBehavior::getLogger().

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readStartPoseFromParameterServer()

void cl_nav2z::CbNavigateGlobalPosition::readStartPoseFromParameterServer ( ClNav2Z::Goal &  goal )

private

setGoal()

void cl_nav2z::CbNavigateGlobalPosition::setGoal

(

const geometry_msgs::msg::Pose &

pose

)

Definition at line 41 of file cb_navigate_global_position.cpp.

{
  goalPosition = pose.position;
  goalYaw = tf2::getYaw(pose.orientation);
}

References goalPosition, and goalYaw.

Member Data Documentation

goalChecker_

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

Definition at line 39 of file cb_navigate_global_position.hpp.

goalPosition

geometry_msgs::msg::Point cl_nav2z::CbNavigateGlobalPosition::goalPosition

Definition at line 32 of file cb_navigate_global_position.hpp.

Referenced by CbNavigateGlobalPosition(), execute(), and setGoal().

goalYaw

float cl_nav2z::CbNavigateGlobalPosition::goalYaw

Definition at line 33 of file cb_navigate_global_position.hpp.

Referenced by CbNavigateGlobalPosition(), execute(), and setGoal().

yawTolerance

std::optional<float> cl_nav2z::CbNavigateGlobalPosition::yawTolerance

Definition at line 35 of file cb_navigate_global_position.hpp.

yawToleranceX

std::optional<float> cl_nav2z::CbNavigateGlobalPosition::yawToleranceX

Definition at line 36 of file cb_navigate_global_position.hpp.

yawToleranceY

std::optional<float> cl_nav2z::CbNavigateGlobalPosition::yawToleranceY

Definition at line 37 of file cb_navigate_global_position.hpp.

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_global_position.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_global_position.cpp