Class AbstractNavigationServer

Defined in File abstract_navigation_server.h

Inheritance Relationships

Derived Type

public mbf_simple_nav::SimpleNavigationServer

Class Documentation

class AbstractNavigationServer

The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex and bundles the controller execution classes,the planner execution classes and the recovery execution classes. It provides the following action servers ActionServerGetPath -> callActionGetPath(), ActionServerExePath -> callActionExePath(), ActionServerRecovery -> callActionRecovery() and ActionServerMoveBase -> callActionMoveBase().

Subclassed by mbf_simple_nav::SimpleNavigationServer

Public Functions

AbstractNavigationServer(const TFPtr &tf_listener_ptr, const rclcpp::Node::SharedPtr &node)

Constructor, reads all parameters and initializes all action servers and creates the plugin instances. Parameters are the concrete implementations of the abstract classes.

Parameters:: tf_listener_ptr – shared pointer to the common TransformListener buffering transformations

virtual ~AbstractNavigationServer(): Destructor.

virtual void stop()

virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr newPlannerExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr &plugin_ptr)

Create a new abstract planner execution.

Parameters:

plugin_name – Name of the planner to use.
plugin_ptr – Shared pointer to the plugin to use.

Returns:

Shared pointer to a new PlannerExecution.

virtual mbf_abstract_nav::AbstractControllerExecution::Ptr newControllerExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr &plugin_ptr)

Create a new abstract controller execution.

Parameters:

plugin_name – Name of the controller to use.
plugin_ptr – Shared pointer to the plugin to use.

Returns:

Shared pointer to a new ControllerExecution.

virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr newRecoveryExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr &plugin_ptr)

Create a new abstract recovery behavior execution.

Parameters:

plugin_name – Name of the recovery behavior to run.
plugin_ptr – Shared pointer to the plugin to use

Returns:

Shared pointer to a new RecoveryExecution.

virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string &planner_type) = 0

Loads the plugin associated with the given planner_type parameter.

Parameters:: planner_type – The type of the planner plugin to load.
Returns:: Pointer to the loaded plugin

virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string &controller_type) = 0

Loads the plugin associated with the given controller type parameter.

Parameters:: controller_type – The type of the controller plugin
Returns:: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string &recovery_type) = 0

Loads a Recovery plugin associated with given recovery type parameter.

Parameters:: recovery_name – The name of the Recovery plugin
Returns:: A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise.

virtual bool initializePlannerPlugin(const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr) = 0

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name – The name of the planner
planner_ptr – pointer to the planner object which corresponds to the name param

Returns:

true if init succeeded, false otherwise

virtual bool initializeControllerPlugin(const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr) = 0

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name – The name of the controller
controller_ptr – pointer to the controller object which corresponds to the name param

Returns:

true if init succeeded, false otherwise

virtual bool initializeRecoveryPlugin(const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr) = 0

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name – The name of the recovery behavior
behavior_ptr – pointer to the recovery behavior object which corresponds to the name param

Returns:

true if init succeeded, false otherwise

virtual rclcpp_action::GoalResponse handleGoalGetPath(const rclcpp_action::GoalUUID &uuid, mbf_msgs::action::GetPath::Goal::ConstSharedPtr goal)

virtual void callActionGetPath(ServerGoalHandleGetPathPtr goal_handle)

GetPath action execution method. This method will be called if the action server receives a goal.

Parameters:: goal – SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

virtual rclcpp_action::CancelResponse cancelActionGetPath(ServerGoalHandleGetPathPtr goal_handle)

virtual rclcpp_action::GoalResponse handleGoalExePath(const rclcpp_action::GoalUUID &uuid, mbf_msgs::action::ExePath::Goal::ConstSharedPtr goal)

virtual void callActionExePath(ServerGoalHandleExePathPtr goal_handle)

ExePath action execution method. This method will be called if the action server receives a goal.

Parameters:: goal – SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

virtual rclcpp_action::CancelResponse cancelActionExePath(ServerGoalHandleExePathPtr goal_handle)

virtual rclcpp_action::GoalResponse handleGoalRecovery(const rclcpp_action::GoalUUID &uuid, mbf_msgs::action::Recovery::Goal::ConstSharedPtr goal)

virtual void callActionRecovery(ServerGoalHandleRecoveryPtr goal_handle)

Recovery action execution method. This method will be called if the action server receives a goal.

Parameters:: goal – SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

virtual rclcpp_action::CancelResponse cancelActionRecovery(ServerGoalHandleRecoveryPtr goal_handle)

virtual rclcpp_action::GoalResponse handleGoalMoveBase(const rclcpp_action::GoalUUID &uuid, mbf_msgs::action::MoveBase::Goal::ConstSharedPtr goal)

virtual void callActionMoveBase(ServerGoalHandleMoveBasePtr goal_handle)

MoveBase action execution method. This method will be called if the action server receives a goal.

Parameters:: goal – SimpleActionServer goal containing all necessary parameters for the action execution. See the action definitions in mbf_msgs.

virtual rclcpp_action::CancelResponse cancelActionMoveBase(ServerGoalHandleMoveBasePtr goal_handle)

virtual void initializeServerComponents(): initializes all server components. Initializing the plugins of the Planner, the Controller, and the Recovery Behavior.

Protected Functions

bool transformPlanToGlobalFrame(std::vector<geometry_msgs::msg::PoseStamped> &plan, std::vector<geometry_msgs::msg::PoseStamped> &global_plan)

Transforms a plan to the global frame (global_frame_) coord system.

Parameters:

plan – Input plan to be transformed.
global_plan – Output plan, which is then transformed to the global frame.

Returns:

true, if the transformation succeeded, false otherwise

Protected Attributes

rclcpp::Node::SharedPtr node_: Ptr to node for logging, params and communication with other nodes.

AbstractPluginManager<mbf_abstract_core::AbstractPlanner> planner_plugin_manager_

AbstractPluginManager<mbf_abstract_core::AbstractController> controller_plugin_manager_

AbstractPluginManager<mbf_abstract_core::AbstractRecovery> recovery_plugin_manager_

ActionServerRecovery::SharedPtr action_server_recovery_ptr_: shared pointer to the Recovery action server

ActionServerExePath::SharedPtr action_server_exe_path_ptr_: shared pointer to the ExePath action server

ActionServerGetPath::SharedPtr action_server_get_path_ptr_: shared pointer to the GetPath action server

ActionServerMoveBase::SharedPtr action_server_move_base_ptr_: shared pointer to the MoveBase action server

PlannerAction::Ptr planner_action_

ControllerAction::Ptr controller_action_

RecoveryAction::Ptr recovery_action_

MoveBaseAction::Ptr move_base_action_

std::string robot_frame_: the robot frame, to get the current robot pose in the global_frame_

std::string global_frame_: the global frame, in which the robot is moving

const TFPtr tf_listener_ptr_: shared pointer to the common TransformListener

rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr vel_pub_: cmd_vel publisher for all controller execution objects

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr goal_pub_: current_goal publisher for all controller execution objects

mbf_utility::RobotInformation::Ptr robot_info_: current robot state