Program Listing for File stopped_goal_checker.hpp
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#ifndef NAV2_CONTROLLER__PLUGINS__STOPPED_GOAL_CHECKER_HPP_
#define NAV2_CONTROLLER__PLUGINS__STOPPED_GOAL_CHECKER_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_controller/plugins/simple_goal_checker.hpp"
namespace nav2_controller
{
class StoppedGoalChecker : public SimpleGoalChecker
{
public:
StoppedGoalChecker();
// Standard GoalChecker Interface
void initialize(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) 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:
double rot_stopped_velocity_, trans_stopped_velocity_;
// Dynamic parameters handler
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
std::string plugin_name_;
rcl_interfaces::msg::SetParametersResult
dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
};
} // namespace nav2_controller
#endif // NAV2_CONTROLLER__PLUGINS__STOPPED_GOAL_CHECKER_HPP_