cl_nav2z::PlannerSwitcher Class Reference

#include <planner_switcher.hpp>

Inheritance diagram for cl_nav2z::PlannerSwitcher:

Collaboration diagram for cl_nav2z::PlannerSwitcher:

Public Member Functions
	PlannerSwitcher ()
void	setBackwardPlanner ()
void	setUndoPathBackwardPlanner ()
void	setForwardPlanner ()
void	setPureSpinningPlanner ()
void	onInitialize () override
void	setDefaultPlanners ()
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Member Functions
void	updatePlanners ()

Private Attributes
std::string	desired_global_planner_
std::string	desired_local_planner_
bool	set_planners_mode_flag_
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	planner_selector_pub_
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	controller_selector_pub_
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	goal_checker_selector_pub_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 31 of file planner_switcher.hpp.

Constructor & Destructor Documentation

PlannerSwitcher()

cl_nav2z::PlannerSwitcher::PlannerSwitcher

(

)

Definition at line 27 of file planner_switcher.cpp.

{}

Member Function Documentation

onInitialize()

void cl_nav2z::PlannerSwitcher::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 29 of file planner_switcher.cpp.

{
  rclcpp::QoS qos(rclcpp::KeepLast(1));
  qos.transient_local().reliable();
 
  this->planner_selector_pub_ =
    getNode()->create_publisher<std_msgs::msg::String>("planner_selector", qos);
  this->controller_selector_pub_ =
    getNode()->create_publisher<std_msgs::msg::String>("controller_selector", qos);
}

References controller_selector_pub_, smacc2::ISmaccComponent::getNode(), and planner_selector_pub_.

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setBackwardPlanner()

void cl_nav2z::PlannerSwitcher::setBackwardPlanner

(

)

Definition at line 50 of file planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[PlannerSwitcher] Planner Switcher: Trying to set BackwardPlanner");
 
  desired_global_planner_ = "BackwardGlobalPlanner";
  desired_local_planner_ = "BackwardLocalPlanner";
  updatePlanners();
}

References desired_global_planner_, desired_local_planner_, smacc2::ISmaccComponent::getLogger(), and updatePlanners().

Referenced by cl_nav2z::CbNavigateBackwards::onEntry().

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setDefaultPlanners()

void cl_nav2z::PlannerSwitcher::setDefaultPlanners

(

)

Definition at line 77 of file planner_switcher.cpp.

{
  desired_global_planner_ = "GridBased";
  desired_local_planner_ = "FollowPath";
 
  updatePlanners();
}

References desired_global_planner_, desired_local_planner_, and updatePlanners().

Referenced by cl_nav2z::WaypointNavigator::sendNextGoal().

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setForwardPlanner()

void cl_nav2z::PlannerSwitcher::setForwardPlanner

(

)

Definition at line 59 of file planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[PlannerSwitcher] Planner Switcher: Trying to set ForwardPlanner");
 
  desired_global_planner_ = "ForwardGlobalPlanner";
  desired_local_planner_ = "ForwardLocalPlanner";
  updatePlanners();
}

References desired_global_planner_, desired_local_planner_, smacc2::ISmaccComponent::getLogger(), and updatePlanners().

Referenced by cl_nav2z::CbNavigateForward::onEntry().

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setPureSpinningPlanner()

void cl_nav2z::PlannerSwitcher::setPureSpinningPlanner

(

)

Definition at line 68 of file planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[PlannerSwitcher] Planner Switcher: Trying to set PureSpinningPlanner");
 
  desired_global_planner_ = "ForwardGlobalPlanner";
  desired_local_planner_ = "PureSpinningLocalPlanner";
  updatePlanners();
}

References desired_global_planner_, desired_local_planner_, smacc2::ISmaccComponent::getLogger(), and updatePlanners().

Referenced by cl_nav2z::CbAbsoluteRotate::onEntry(), and cl_nav2z::CbRotate::onEntry().

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setUndoPathBackwardPlanner()

void cl_nav2z::PlannerSwitcher::setUndoPathBackwardPlanner

(

)

Definition at line 40 of file planner_switcher.cpp.

{
  RCLCPP_INFO(getLogger(), "[PlannerSwitcher] Planner Switcher: Trying to set BackwardPlanner");
 
  desired_global_planner_ = "UndoPathGlobalPlanner";
  desired_local_planner_ = "BackwardLocalPlanner";
 
  updatePlanners();
}

References desired_global_planner_, desired_local_planner_, smacc2::ISmaccComponent::getLogger(), and updatePlanners().

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updatePlanners()

void cl_nav2z::PlannerSwitcher::updatePlanners ( )

private

Definition at line 85 of file planner_switcher.cpp.

{
  std_msgs::msg::String planner_msg;
  planner_msg.data = desired_global_planner_;
  this->planner_selector_pub_->publish(planner_msg);
 
  std_msgs::msg::String controller_msg;
  controller_msg.data = desired_local_planner_;
  this->controller_selector_pub_->publish(controller_msg);
}

References controller_selector_pub_, desired_global_planner_, desired_local_planner_, and planner_selector_pub_.

Referenced by setBackwardPlanner(), setDefaultPlanners(), setForwardPlanner(), setPureSpinningPlanner(), and setUndoPathBackwardPlanner().

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Member Data Documentation

controller_selector_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr cl_nav2z::PlannerSwitcher::controller_selector_pub_

private

Definition at line 60 of file planner_switcher.hpp.

Referenced by onInitialize(), and updatePlanners().

desired_global_planner_

std::string cl_nav2z::PlannerSwitcher::desired_global_planner_

private

Definition at line 50 of file planner_switcher.hpp.

Referenced by setBackwardPlanner(), setDefaultPlanners(), setForwardPlanner(), setPureSpinningPlanner(), setUndoPathBackwardPlanner(), and updatePlanners().

desired_local_planner_

std::string cl_nav2z::PlannerSwitcher::desired_local_planner_

private

Definition at line 52 of file planner_switcher.hpp.

Referenced by setBackwardPlanner(), setDefaultPlanners(), setForwardPlanner(), setPureSpinningPlanner(), setUndoPathBackwardPlanner(), and updatePlanners().

goal_checker_selector_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr cl_nav2z::PlannerSwitcher::goal_checker_selector_pub_

private

Definition at line 62 of file planner_switcher.hpp.

planner_selector_pub_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr cl_nav2z::PlannerSwitcher::planner_selector_pub_

private

Definition at line 58 of file planner_switcher.hpp.

Referenced by onInitialize(), and updatePlanners().

set_planners_mode_flag_

bool cl_nav2z::PlannerSwitcher::set_planners_mode_flag_

private

Definition at line 54 of file planner_switcher.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/components/planner_switcher/planner_switcher.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/planner_switcher/planner_switcher.cpp