Class ForwardGlobalPlanner

Defined in File forward_global_planner.hpp

Inheritance Relationships

Base Type

public nav2_core::GlobalPlanner

Class Documentation

class ForwardGlobalPlanner : public nav2_core::GlobalPlanner

Public Types

using Ptr = std::shared_ptr<ForwardGlobalPlanner>

Public Functions

ForwardGlobalPlanner()

virtual ~ForwardGlobalPlanner(): Virtual destructor.

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

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

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)

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

Returns:

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