Class NavigatorBase

• Defined in File behavior_tree_navigator.hpp

Inheritance Relationships

Derived Type

• public nav2_core::BehaviorTreeNavigator< ActionT > (Template Class BehaviorTreeNavigator)

Class Documentation

class NavigatorBase

Navigator interface to allow navigators to be stored in a vector and accessed via pluginlib due to templates. These functions will be implemented by BehaviorTreeNavigator, not the user. The user should implement the virtual methods from BehaviorTreeNavigator to implement their navigator action.

Subclassed by nav2_core::BehaviorTreeNavigator< ActionT >

Public Functions

NavigatorBase() = default

virtual ~NavigatorBase() = default

virtual bool on_configure(rclcpp_lifecycle::LifecycleNode::WeakPtr parent_node, const std::vector<std::string> &plugin_lib_names, const FeedbackUtils &feedback_utils, nav2_core::NavigatorMuxer *plugin_muxer, std::shared_ptr<nav2_util::OdomSmoother> odom_smoother) = 0

Configuration of the navigator’s backend BT and actions.

Returns:

bool If successful

virtual bool on_activate() = 0

Activation of the navigator’s backend BT and actions.

Returns:

bool If successful

virtual bool on_deactivate() = 0

Deactivation of the navigator’s backend BT and actions.

Returns:

bool If successful

virtual bool on_cleanup() = 0

Cleanup a navigator.

Returns:

bool If successful