Class RouteServer

Inheritance Relationships

Base Type

  • public nav2_util::LifecycleNode

Class Documentation

class RouteServer : public nav2_util::LifecycleNode

An action server implements a Navigation Route-Graph planner to compliment free-space planning in the Planner Server.

Public Types

using ComputeRoute = nav2_msgs::action::ComputeRoute
using ComputeRouteGoal = ComputeRoute::Goal
using ComputeRouteResult = ComputeRoute::Result
using ComputeRouteServer = nav2_util::SimpleActionServer<ComputeRoute>
using ComputeAndTrackRoute = nav2_msgs::action::ComputeAndTrackRoute
using ComputeAndTrackRouteGoal = ComputeAndTrackRoute::Goal
using ComputeAndTrackRouteFeedback = ComputeAndTrackRoute::Feedback
using ComputeAndTrackRouteResult = ComputeAndTrackRoute::Result
using ComputeAndTrackRouteServer = nav2_util::SimpleActionServer<ComputeAndTrackRoute>

Public Functions

explicit RouteServer(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

A constructor for nav2_route::RouteServer.

Parameters:

options – Additional options to control creation of the node.

~RouteServer() = default

A destructor for nav2_route::RouteServer.

Protected Functions

nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

Configure member variables and initializes planner.

Parameters:

state – Reference to LifeCycle node state

Returns:

SUCCESS or FAILURE

nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override

Activate member variables.

Parameters:

state – Reference to LifeCycle node state

Returns:

SUCCESS or FAILURE

nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override

Deactivate member variables.

Parameters:

state – Reference to LifeCycle node state

Returns:

SUCCESS or FAILURE

nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override

Reset member variables.

Parameters:

state – Reference to LifeCycle node state

Returns:

SUCCESS or FAILURE

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

void computeRoute()

Main route action server callbacks for computing and tracking a route.

void computeAndTrackRoute()
template<typename GoalT>
Route findRoute(const std::shared_ptr<const GoalT> goal, ReroutingState &rerouting_info = ReroutingState())

Abstract method combining finding the starting/ending nodes and the route planner to find the Node locations of interest and route to the goal.

Parameters:

  • goal – The request goal information

  • blocked_ids – The IDs of blocked graphs / edges

  • updated_start_id – The nodeID of an updated starting point when tracking a route that corresponds to the next point to route to from to continue progress

Returns:

A route of the request

template<typename ActionT>
void processRouteRequest(std::shared_ptr<nav2_util::SimpleActionServer<ActionT>> &action_server)

Main processing called by both action server callbacks to centralize the great deal of shared code between them.

rclcpp::Duration findPlanningDuration(const rclcpp::Time &start_time)

Find the planning duration of the request and log warnings.

Parameters:

start_time – Start of planning time

Returns:

Duration of planning time

template<typename ActionT>
bool isRequestValid(std::shared_ptr<nav2_util::SimpleActionServer<ActionT>> &action_server)

Find the routing request is valid (action server OK and not cancelled)

Parameters:

action_server – Actions server to check

Returns:

if the request is valid

void populateActionResult(std::shared_ptr<ComputeRoute::Result> result, const Route &route, const nav_msgs::msg::Path &path, const rclcpp::Duration &planning_duration)

Populate result for compute route action.

Parameters:

  • result – Result to populate

  • route – Route to use to populate result

  • path – Path to use to populate result

  • planning_duration – Time to create a valid route

void populateActionResult(std::shared_ptr<ComputeAndTrackRoute::Result>, const Route&, const nav_msgs::msg::Path&, const rclcpp::Duration&)

Populate result for compute and track route action.

Parameters:

  • result – Result to populate

  • route – Route to use to populate result

  • path – Path to use to populate result

  • planning_duration – Time to create a valid route

void setRouteGraph(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<nav2_msgs::srv::SetRouteGraph::Request> request, std::shared_ptr<nav2_msgs::srv::SetRouteGraph::Response> response)

The service callback to set a new route graph.

Parameters:

  • request_header – to the service

  • request – to the service

  • response – from the service

template<typename GoalT>
void exceptionWarning(const std::shared_ptr<const GoalT> goal, const std::exception &ex)

Log exception warnings, templated by action message type.

Parameters:

  • goal – Goal that failed

  • exception – Exception message

Protected Attributes

std::shared_ptr<ComputeRouteServer> compute_route_server_
std::shared_ptr<ComputeAndTrackRouteServer> compute_and_track_route_server_
std::shared_ptr<tf2_ros::Buffer> tf_
std::shared_ptr<tf2_ros::TransformListener> transform_listener_
rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>::SharedPtr graph_vis_publisher_
rclcpp::Service<nav2_msgs::srv::SetRouteGraph>::SharedPtr set_graph_service_
std::shared_ptr<GraphLoader> graph_loader_
std::shared_ptr<RoutePlanner> route_planner_
std::shared_ptr<RouteTracker> route_tracker_
std::shared_ptr<PathConverter> path_converter_
std::shared_ptr<GoalIntentExtractor> goal_intent_extractor_
std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber_
Graph graph_
GraphToIDMap id_to_graph_map_
std::string route_frame_
std::string global_frame_
std::string base_frame_
double max_planning_time_