Class BehaviorServer
Defined in File behavior_server.hpp
Inheritance Relationships
Base Type
public nav2_util::LifecycleNode
Class Documentation
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class BehaviorServer : public nav2_util::LifecycleNode
An server hosting a map of behavior plugins.
Public Functions
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explicit BehaviorServer(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
A constructor for behavior_server::BehaviorServer.
- Parameters:
options – Additional options to control creation of the node.
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~BehaviorServer()
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bool loadBehaviorPlugins()
Loads behavior plugins from parameter file.
- Returns:
bool if successfully loaded the plugins
Protected Functions
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nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override
Configure lifecycle server.
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nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override
Activate lifecycle server.
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nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override
Deactivate lifecycle server.
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nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override
Cleanup lifecycle server.
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nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override
Shutdown lifecycle server.
Protected Attributes
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std::shared_ptr<tf2_ros::Buffer> tf_
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std::shared_ptr<tf2_ros::TransformListener> transform_listener_
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pluginlib::ClassLoader<nav2_core::Behavior> plugin_loader_
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std::vector<pluginlib::UniquePtr<nav2_core::Behavior>> behaviors_
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std::vector<std::string> default_ids_
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std::vector<std::string> default_types_
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std::vector<std::string> behavior_ids_
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std::vector<std::string> behavior_types_
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std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_
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std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_
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std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> collision_checker_
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explicit BehaviorServer(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())