Class SimpleNavigationServer

Inheritance Relationships

Base Type

  • public mbf_abstract_nav::AbstractNavigationServer

Class Documentation

class SimpleNavigationServer : public mbf_abstract_nav::AbstractNavigationServer

The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces.

Public Functions

SimpleNavigationServer(const TFPtr &tf_listener_ptr, const rclcpp::Node::SharedPtr &node)

Constructor.

Parameters:

tf_listener_ptr – Shared pointer to a common TransformListener

virtual ~SimpleNavigationServer()

Destructor.

virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string &controller_type)

Loads the plugin associated with the given controller type parameter.

Parameters:

controller_type – The type of the controller plugin

Returns:

A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

virtual bool initializeControllerPlugin(const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)

Empty init method. Nothing to initialize.

Parameters:

  • name – The name of the controller

  • controller_ptr – pointer to the controller object which corresponds to the name param

Returns:

true always

virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string &planner_type)

Loads the plugin associated with the given planner_type parameter.

Parameters:

planner_type – The type of the planner plugin to load.

Returns:

true, if the local planner plugin was successfully loaded.

virtual bool initializePlannerPlugin(const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)

Empty init method. Nothing to initialize.

Parameters:

  • name – The name of the planner

  • planner_ptr – pointer to the planner object which corresponds to the name param

Returns:

true always

virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string &recovery_type)

Loads a Recovery plugin associated with given recovery type parameter.

Parameters:

recovery_name – The name of the Recovery plugin

Returns:

A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

virtual bool initializeRecoveryPlugin(const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

  • name – The name of the recovery behavior

  • behavior_ptr – pointer to the recovery behavior object which corresponds to the name param

Returns:

true always