Class PureSpinningLocalPlanner

• Defined in File pure_spinning_local_planner.hpp

Inheritance Relationships

Base Type

• public nav2_core::Controller

Class Documentation

class PureSpinningLocalPlanner : public nav2_core::Controller

Public Functions

PureSpinningLocalPlanner()

virtual ~PureSpinningLocalPlanner()

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

void activate() override

void deactivate() override

void cleanup() override

void setPlan(const nav_msgs::msg::Path &path) override

nav2_core setPlan - Sets the global plan

Parameters:

path – The global plan

virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::Twist &velocity, nav2_core::GoalChecker *goal_checker) override

nav2_core computeVelocityCommands - calculates the best command given the current pose and velocity

It is presumed that the global plan is already set.

This is mostly a wrapper for the protected computeVelocityCommands function which has additional debugging info.

Parameters:

• pose – Current robot pose

• velocity – Current robot velocity

Returns:

The best command for the robot to drive

bool isGoalReached()

virtual void setSpeedLimit(const double &speed_limit, const bool &percentage) override