Class SimpleProgressChecker

Defined in File simple_progress_checker.hpp

Inheritance Relationships

Base Type

public nav2_core::ProgressChecker

Derived Type

public nav2_controller::PoseProgressChecker (Class PoseProgressChecker)

Class Documentation

class SimpleProgressChecker : public nav2_core::ProgressChecker

This plugin is used to check the position of the robot to make sure that it is actually progressing towards a goal.

Subclassed by nav2_controller::PoseProgressChecker

Public Functions

void initialize(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name) override

bool check(geometry_msgs::msg::PoseStamped &current_pose) override

void reset() override

Protected Functions

bool isRobotMovedEnough(const geometry_msgs::msg::Pose2D &pose)

Calculates robots movement from baseline pose.

Parameters:: pose – Current pose of the robot
Returns:: true, if movement is greater than radius_, or false

void resetBaselinePose(const geometry_msgs::msg::Pose2D &pose)

Resets baseline pose with the current pose of the robot.

Parameters:: pose – Current pose of the robot

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

rclcpp::Clock::SharedPtr clock_

double radius_

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

geometry_msgs::msg::Pose2D baseline_pose_

rclcpp::Time baseline_time_

bool baseline_pose_set_ = {false}

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

std::string plugin_name_

Protected Static Functions

static double pose_distance(const geometry_msgs::msg::Pose2D&, const geometry_msgs::msg::Pose2D&)