Class SimpleGoalChecker

Defined in File simple_goal_checker.hpp

Inheritance Relationships

Base Type

public nav2_core::GoalChecker

Derived Type

public nav2_controller::StoppedGoalChecker (Class StoppedGoalChecker)

Class Documentation

class SimpleGoalChecker : public nav2_core::GoalChecker

Goal Checker plugin that only checks the position difference.

This class can be stateful if the stateful parameter is set to true (which it is by default). This means that the goal checker will not check if the xy position matches again once it is found to be true.

Subclassed by nav2_controller::StoppedGoalChecker

Public Functions

SimpleGoalChecker()

void initialize(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override

void reset() override

bool isGoalReached(const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity) override

bool getTolerances(geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance) override

Protected Functions

rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)

Callback executed when a paramter change is detected.

Parameters:: parameters – list of changed parameters

Protected Attributes

double xy_goal_tolerance_

double yaw_goal_tolerance_

bool stateful_

bool check_xy_

double xy_goal_tolerance_sq_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_

std::string plugin_name_