Class BtNavigator
Defined in File bt_navigator.hpp
Inheritance Relationships
Base Type
public nav2_util::LifecycleNode
Class Documentation
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class BtNavigator : public nav2_util::LifecycleNode
An action server that uses behavior tree for navigating a robot to its goal position.
Public Functions
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explicit BtNavigator(rclcpp::NodeOptions options = rclcpp::NodeOptions())
A constructor for nav2_bt_navigator::BtNavigator class.
- Parameters:
options – Additional options to control creation of the node.
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~BtNavigator()
A destructor for nav2_bt_navigator::BtNavigator class.
Protected Functions
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nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override
Configures member variables.
Initializes action server for “NavigationToPose”; subscription to “goal_sub”; and builds behavior tree from xml file.
- Parameters:
state – Reference to LifeCycle node state
- Returns:
SUCCESS or FAILURE
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nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override
Activates action server.
- Parameters:
state – Reference to LifeCycle node state
- Returns:
SUCCESS or FAILURE
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nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override
Deactivates action server.
- Parameters:
state – Reference to LifeCycle node state
- Returns:
SUCCESS or FAILURE
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nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override
Resets member variables.
- Parameters:
state – Reference to LifeCycle node state
- Returns:
SUCCESS or FAILURE
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nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override
Called when in shutdown state.
- Parameters:
state – Reference to LifeCycle node state
- Returns:
SUCCESS or FAILURE
Protected Attributes
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std::unique_ptr<nav2_bt_navigator::Navigator<nav2_msgs::action::NavigateThroughPoses>> poses_navigator_
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nav2_bt_navigator::NavigatorMuxer plugin_muxer_
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std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_
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std::string robot_frame_
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std::string global_frame_
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double transform_tolerance_
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std::string odom_topic_
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std::shared_ptr<tf2_ros::Buffer> tf_
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std::shared_ptr<tf2_ros::TransformListener> tf_listener_
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explicit BtNavigator(rclcpp::NodeOptions options = rclcpp::NodeOptions())