Class Navigator

Defined in File navigator.hpp

Class Documentation

class Navigator

An object the call navigation to obtain initial staging pose.

Public Types

using Nav2Pose = nav2_msgs::action::NavigateToPose

using ActionClient = rclcpp_action::Client<Nav2Pose>

Public Functions

explicit Navigator(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent)

A constructor for opennav_docking::Navigator.

Parameters:: parent – Weakptr to the node to use to get interances and parameters

~Navigator() = default: A destructor for opennav_docking::Navigator.

void activate(): An activation method.

void deactivate(): An deactivation method.

void goToPose(const geometry_msgs::msg::PoseStamped &pose, const rclcpp::Duration &max_staging_duration, bool recursed = false)

An method to go to a particular pose May throw exception if fails to navigate or communicate Blocks until completion.

Parameters:

pose – Pose to go to
max_staging_duration – Maximum time to get to the staging pose

Protected Attributes

rclcpp_lifecycle::LifecycleNode::WeakPtr node_

rclcpp::CallbackGroup::SharedPtr callback_group_

rclcpp::executors::SingleThreadedExecutor executor_

ActionClient::SharedPtr nav_to_pose_client_

std::string navigator_bt_xml_