sm_husky_barrel_search_1::OrNavigation Class Reference

#include <or_navigation.hpp>

Inheritance diagram for sm_husky_barrel_search_1::OrNavigation:

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Public Member Functions
void	onInitialize () override
void	loadWaypointsFromYaml (WaypointNavigator *waypointsNavigator)
Public Member Functions inherited from smacc2::Orthogonal< OrNavigation >
std::shared_ptr< ClientHandler< OrNavigation, TClient > >	createClient (TArgs... args)
Public Member Functions inherited from smacc2::ISmaccOrthogonal
void	setStateMachine (ISmaccStateMachine *value)
ISmaccStateMachine *	getStateMachine ()
void	addClientBehavior (std::shared_ptr< smacc2::ISmaccClientBehavior > clientBehavior)
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
virtual std::string	getName () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename SmaccClientType >
bool	requiresClient (SmaccClientType *&storage)
const std::vector< std::shared_ptr< smacc2::ISmaccClient > > &	getClients ()
const std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > &	getClientBehaviors () const
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename TClientBehavior >
TClientBehavior *	getClientBehavior ()
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccOrthogonal
virtual void	onInitialize ()
void	initializeClients ()
template<typename TOrthogonal , typename TClient >
void	assignClientToOrthogonal (TClient *client)
Protected Attributes inherited from smacc2::ISmaccOrthogonal
std::vector< std::shared_ptr< smacc2::ISmaccClient > >	clients_

Detailed Description

Definition at line 47 of file or_navigation.hpp.

Member Function Documentation

loadWaypointsFromYaml()

void sm_husky_barrel_search_1::OrNavigation::loadWaypointsFromYaml ( WaypointNavigator *  waypointsNavigator )

inline

Definition at line 77 of file or_navigation.hpp.

  {
    RCLCPP_INFO(getLogger(), "OrNavigation loading parameters file");
    // if it is the first time and the waypoints navigator is not configured
    std::string planfilepath;
    getNode()->declare_parameter("waypoints_plan", planfilepath);
    if (getNode()->get_parameter("waypoints_plan", planfilepath))
    {
      std::string package_share_directory =
        ament_index_cpp::get_package_share_directory("sm_husky_barrel_search_1");
      boost::replace_all(planfilepath, "$(pkg_share)", package_share_directory);
      waypointsNavigator->loadWayPointsFromFile(planfilepath);
      RCLCPP_INFO(getLogger(), "waypoints plan: %s", planfilepath.c_str());
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "waypoints plan file not found: NONE");
    }
  }

References smacc2::ISmaccOrthogonal::getLogger(), smacc2::ISmaccOrthogonal::getNode(), and cl_nav2z::WaypointNavigator::loadWayPointsFromFile().

Referenced by onInitialize().

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onInitialize()

void sm_husky_barrel_search_1::OrNavigation::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccOrthogonal.

Definition at line 50 of file or_navigation.hpp.

  {
    auto movebaseClient = this->createClient<ClNav2Z>();
 
    // create pose component
    movebaseClient->createComponent<Pose>();
 
    // create planner switcher
    movebaseClient->createComponent<PlannerSwitcher>();
 
    // create goal checker switcher
    movebaseClient->createComponent<GoalCheckerSwitcher>();
 
    // create odom tracker
    movebaseClient->createComponent<OdomTracker>();
 
    // create odom tracker
    movebaseClient->createComponent<CpSlamToolbox>();
 
    // create waypoints navigator component
    auto waypointsNavigator = movebaseClient->createComponent<WaypointNavigator>();
    loadWaypointsFromYaml(waypointsNavigator);
 
    // change this to skip some points of the yaml file, default = 0
    waypointsNavigator->currentWaypoint_ = 0;
  }

References loadWaypointsFromYaml().

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

• smacc2_sm_reference_library/sm_husky_barrel_search_1/include/sm_husky_barrel_search_1/orthogonals/or_navigation.hpp