Class GlobalPlanner

• Defined in File global_planner.hpp

Class Documentation

class GlobalPlanner

Abstract interface for global planners to adhere to with pluginlib.

Public Types

using Ptr = std::shared_ptr<GlobalPlanner>

Public Functions

inline virtual ~GlobalPlanner()

Virtual destructor.

virtual void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr<tf2_ros::Buffer> tf, std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) = 0

Parameters:

• parent – pointer to user’s node

• name – The name of this planner

• tf – A pointer to a TF buffer

• costmap_ros – A pointer to the costmap

virtual void cleanup() = 0

Method to cleanup resources used on shutdown.

virtual void activate() = 0

Method to active planner and any threads involved in execution.

virtual void deactivate() = 0

Method to deactive planner and any threads involved in execution.

virtual nav_msgs::msg::Path createPlan(const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, std::function<bool()> cancel_checker) = 0

Method create the plan from a starting and ending goal.

Parameters:

• start – The starting pose of the robot

• goal – The goal pose of the robot

• cancel_checker – Function to check if the action has been canceled

Returns:

The sequence of poses to get from start to goal, if any