Template Class DriveOnHeading

Defined in File drive_on_heading.hpp

Inheritance Relationships

Base Type

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

Class Documentation

template<typename ActionT = nav2_msgs::action::DriveOnHeading> class DriveOnHeading : public nav2_behaviors::TimedBehavior<nav2_msgs::action::DriveOnHeading>

An action server Behavior for spinning in.

Public Functions

inline DriveOnHeading(): A constructor for nav2_behaviors::DriveOnHeading.

~DriveOnHeading() = default

inline virtual ResultStatus onRun(const std::shared_ptr<const typename ActionT::Goal> command) override

Initialization to run behavior.

Parameters:: command – Goal to execute
Returns:: Status of behavior

inline virtual ResultStatus onCycleUpdate() override

Loop function to run behavior.

Returns:: Status of behavior

inline virtual CostmapInfoType getResourceInfo() override

Method to determine the required costmap info.

Returns:: costmap resources needed

Protected Functions

inline bool isCollisionFree(const double &distance, const geometry_msgs::msg::Twist &cmd_vel, geometry_msgs::msg::Pose2D &pose2d)

Check if pose is collision free.

Parameters:

distance – Distance to check forward
cmd_vel – current commanded velocity
pose2d – Current pose

Returns:

is collision free or not

inline virtual void onConfigure() override: Configuration of behavior action.

Protected Attributes

ActionT::Feedback::SharedPtr feedback_

geometry_msgs::msg::PoseStamped initial_pose_

double command_x_

double command_speed_

rclcpp::Duration command_time_allowance_ = {0, 0}

rclcpp::Time end_time_

double simulate_ahead_time_