Class BackwardGlobalPlanner

• Defined in File backward_global_planner.hpp

Inheritance Relationships

Base Type

• public nav2_core::GlobalPlanner

Class Documentation

class BackwardGlobalPlanner : public nav2_core::GlobalPlanner

Public Functions

BackwardGlobalPlanner()

virtual ~BackwardGlobalPlanner()

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)

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()

Method to cleanup resources used on shutdown.

virtual void activate()

Method to active planner and any threads involved in execution.

virtual void deactivate()

Method to deactivate 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)

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

Returns:

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