Class BtNavigator
Defined in File bt_navigator.hpp
Inheritance Relationships
Base Type
public nav2_util::LifecycleNode
Class Documentation
-
class BtNavigator : public nav2_util::LifecycleNode
An action server that uses behavior tree for navigating a robot to its goal position.
Public Functions
-
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.
-
~BtNavigator()
A destructor for nav2_bt_navigator::BtNavigator class.
Protected Functions
-
nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override
Configures member variables.
Initializes action servers for navigator plugins; subscription to “goal_sub”; and builds behavior tree from xml file.
- Parameters:
state – Reference to LifeCycle node state
- Returns:
SUCCESS or FAILURE
-
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
-
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
-
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
-
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
-
pluginlib::ClassLoader<nav2_core::NavigatorBase> class_loader_
-
std::vector<pluginlib::UniquePtr<nav2_core::NavigatorBase>> navigators_
-
nav2_core::NavigatorMuxer plugin_muxer_
-
std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_
-
std::string robot_frame_
-
std::string global_frame_
-
double transform_tolerance_
-
std::string odom_topic_
-
std::shared_ptr<tf2_ros::Buffer> tf_
-
std::shared_ptr<tf2_ros::TransformListener> tf_listener_
-
explicit BtNavigator(rclcpp::NodeOptions options = rclcpp::NodeOptions())