Class StoppedGoalChecker

• Defined in File stopped_goal_checker.hpp

Inheritance Relationships

Base Type

• public nav2_controller::SimpleGoalChecker (Class SimpleGoalChecker)

Class Documentation

class StoppedGoalChecker : public nav2_controller::SimpleGoalChecker

Goal Checker plugin that checks the position difference and velocity.

Public Functions

StoppedGoalChecker()

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 Functions

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

double rot_stopped_velocity_

double trans_stopped_velocity_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_

std::string plugin_name_