Template Class RouteOperationClient

• Defined in File route_operation_client.hpp

Inheritance Relationships

Base Type

• public nav2_route::RouteOperation (Class RouteOperation)

Class Documentation

template<typename SrvT>
class RouteOperationClient : public nav2_route::RouteOperation

A route operation base class to trigger a service event at a node or edge. This is meant to be named accordingly to the event of query in the parameter file (e.g. OpenDoor, CallElevator). Thus, a single RouteOperationClient implementation can support many different operation instances calling different services. The template type may be overridden for any applications. It may be set up to either trigger a single service if the service_name is set in the parameter file at launch for all calls or trigger different services depending on the service_name set in the metadata of the node or edge operation given.

For example: OpenDoor<nav2_msgs::srv::OpenDoor> RouteOperationClient instance can open a door at service “/open_door” set in the parameter file that it calls every time the OpenDoor operation is triggered in the graph (ceneralized service). Or the OpenDoor instance can call any service whose service_name is set in the operation’s metadata (e.g. “/open_door1”, “/open_door2”, …) corresponding to other instances of similar use. In this case, the specification of “OpenDoor” operation is less to do with the service name and more to do with the type of service template (nav2_msgs) used to populate the request (decentralized). This allows for massive reuse of a single plugin implementation in centralized or decentralized applications.

The templated nature of this node makes it a base class for any such service containing additional request or response fields by implementing the virtual interfaces configureEvent, populateRequest, processResponse appropriately. The std_srvs/Trigger example TriggerEvent can be thought of as a useful entry level demo and useful working primitive

Public Functions

RouteOperationClient() = default

Constructor.

virtual ~RouteOperationClient() = default

destructor

inline virtual void configureEvent(const rclcpp_lifecycle::LifecycleNode::SharedPtr, const std::string&)

Configure client with any necessary parameters, etc. May change or reset main_srv_name_ variable to control main service name and existence.

inline virtual void populateRequest(std::shared_ptr<typename SrvT::Request>, const Metadata*)

Populate request with details for service, if necessary.

inline virtual OperationResult processResponse(std::shared_ptr<typename SrvT::Response>)

Process response from service to populate a result, if necessary.

Protected Functions

inline virtual void configure(const rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>, const std::string &name) final

Configure.

inline virtual OperationResult perform(NodePtr node_achieved, EdgePtr, EdgePtr, const Route&, const geometry_msgs::msg::PoseStamped&, const Metadata *mdata) final

The main operation to call a service of arbitrary type and arbitrary name.

Parameters:

• mdata – Metadata corresponding to the operation in the navigation graph. If metadata is invalid or irrelevant, a nullptr is given

• node_achieved – Node achieved, for additional context

• edge_entered – Edge entered by node achievement, for additional context

• edge_exited – Edge exited by node achievement, for additional context

• route – Current route being tracked in full, for additional context

• curr_pose – Current robot pose in the route frame, for additional context

Returns:

Whether to perform rerouting and report blocked edges in that case

inline std::shared_ptr<typename SrvT::Response> callService(typename rclcpp::Client<SrvT>::SharedPtr client, std::shared_ptr<typename SrvT::Request> req, const std::chrono::nanoseconds timeout = std::chrono::nanoseconds(500ms))

inline virtual std::string getName() override

Get name of the plugin for parameter scope mapping.

Returns:

Name

inline virtual RouteOperationType processType() final

Indication that the adjust speed limit route operation is performed on all state changes.

Returns:

The type of operation (on graph call, on status changes, or constantly)

Protected Attributes

std::string name_

std::string main_srv_name_

std::atomic_bool reroute_

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

rclcpp::Client<SrvT>::SharedPtr main_client_

rclcpp_lifecycle::LifecycleNode::WeakPtr node_

rclcpp::CallbackGroup::SharedPtr callback_group_

rclcpp::executors::SingleThreadedExecutor callback_group_executor_