Template Class TimedBehavior

• Defined in File timed_behavior.hpp

Inheritance Relationships

Base Type

• public nav2_core::Behavior

Derived Type

• public nav2_behaviors::DriveOnHeading< nav2_msgs::action::BackUp > (Template Class DriveOnHeading)

Class Documentation

template<typename ActionT>
class TimedBehavior : public nav2_core::Behavior

Subclassed by nav2_behaviors::DriveOnHeading< nav2_msgs::action::BackUp >

Public Types

using ActionServer = nav2_util::SimpleActionServer<ActionT>

Public Functions

inline TimedBehavior()

A TimedBehavior constructor.

virtual ~TimedBehavior() = default

virtual Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) = 0

virtual Status onCycleUpdate() = 0

inline virtual void onConfigure()

inline virtual void onCleanup()

inline virtual void onActionCompletion()

inline virtual void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr<tf2_ros::Buffer> tf, std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> collision_checker) override

inline virtual void cleanup() override

inline virtual void activate() override

inline virtual void deactivate() override

Protected Functions

inline void execute()

inline void stopRobot()

Protected Attributes

rclcpp_lifecycle::LifecycleNode::WeakPtr node_

std::string behavior_name_

rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_

std::shared_ptr<ActionServer> action_server_

std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> collision_checker_

std::shared_ptr<tf2_ros::Buffer> tf_

double cycle_frequency_

double enabled_

std::string global_frame_

std::string robot_base_frame_

double transform_tolerance_

rclcpp::Duration elasped_time_ = {0, 0}

rclcpp::Clock::SharedPtr clock_

rclcpp::Logger logger_ = {rclcpp::get_logger("nav2_behaviors")}