Class MoveBaseAction

Defined in File move_base_action.h

Class Documentation

class MoveBaseAction

Public Types

typedef std::shared_ptr<MoveBaseAction> Ptr

typedef mbf_msgs::action::GetPath GetPath: Action clients for the MoveBase action.

typedef mbf_msgs::action::ExePath ExePath

typedef mbf_msgs::action::Recovery Recovery

typedef rclcpp_action::ServerGoalHandle<mbf_msgs::action::MoveBase> GoalHandle

Public Functions

MoveBaseAction(const rclcpp::Node::SharedPtr &node, const std::string &name, const mbf_utility::RobotInformation::ConstPtr &robot_info, const std::vector<std::string> &controllers)

~MoveBaseAction()

void start(std::shared_ptr<GoalHandle> goal_handle)

void cancel()

rcl_interfaces::msg::SetParametersResult reconfigure(const std::vector<rclcpp::Parameter> &parameters)

Protected Types

enum MoveBaseActionState

Values:

enumerator NONE

enumerator GET_PATH

enumerator EXE_PATH

enumerator RECOVERY

enumerator OSCILLATING

enumerator SUCCEEDED

enumerator CANCELED

enumerator FAILED

Protected Functions

void actionGetPathGoalResponse(const rclcpp_action::ClientGoalHandle<GetPath>::ConstSharedPtr &get_path_goal_handle)

void actionGetPathResult(const rclcpp_action::ClientGoalHandle<GetPath>::WrappedResult &result)

void actionExePathGoalResponse(const rclcpp_action::ClientGoalHandle<ExePath>::ConstSharedPtr &exe_path_goal_handle)

void actionExePathFeedback(const rclcpp_action::ClientGoalHandle<ExePath>::ConstSharedPtr &goal_handle, const ExePath::Feedback::ConstSharedPtr &feedback)

void actionExePathResult(const rclcpp_action::ClientGoalHandle<ExePath>::WrappedResult &result)

void actionRecoveryGoalResponse(const rclcpp_action::ClientGoalHandle<Recovery>::ConstSharedPtr &recovery_goal_handle)

void actionRecoveryResult(const rclcpp_action::ClientGoalHandle<Recovery>::WrappedResult &result)

void recoveryRejectedOrAborted(const rclcpp_action::ClientGoalHandle<Recovery>::WrappedResult &result)

bool checkAndHandleMoveBaseActionCanceled(): Checks whether the move base client requested canceling of action. If so, returns true and handles goal state transition. Otherwise, returns false. Regularly call this function before doing further work (e.g. before calling the next exepath action), so canceling remains responsive.

bool attemptRecovery()

bool replanningActive() const

void replanningThread()

template<typename ResultType> inline void fillMoveBaseResult(const ResultType &result, mbf_msgs::action::MoveBase::Result &move_base_result)

Utility method that fills move base action result with the result of any of the action clients.

Template Parameters:

ResultType –

Parameters:

result –
move_base_result –

Protected Attributes

ExePath::Goal exe_path_goal_

rclcpp_action::Client<ExePath>::SendGoalOptions exe_path_send_goal_options_

GetPath::Goal get_path_goal_

std::shared_future<rclcpp_action::ClientGoalHandle<GetPath>::SharedPtr> get_path_goal_handle_

rclcpp_action::Client<GetPath>::SendGoalOptions get_path_send_goal_options_

Recovery::Goal recovery_goal_

rclcpp_action::Client<Recovery>::SendGoalOptions recovery_send_goal_options_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_

geometry_msgs::msg::PoseStamped last_oscillation_pose_

rclcpp::Time last_oscillation_reset_

rclcpp::Duration oscillation_timeout_: timeout after a oscillation is detected

double oscillation_distance_: minimal move distance to not detect an oscillation

std::shared_ptr<GoalHandle> goal_handle_: handle of the active MoveBase action goal, if one exists

std::string name_

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

geometry_msgs::msg::PoseStamped robot_pose_: current robot pose; updated with exe_path action feedback

geometry_msgs::msg::PoseStamped goal_pose_: current goal pose; used to compute remaining distance and angle

rclcpp::Node::SharedPtr node_

rclcpp_action::Client<ExePath>::SharedPtr action_client_exe_path_: Action client used by the move_base action.

rclcpp_action::Client<GetPath>::SharedPtr action_client_get_path_: Action client used by the move_base action.

rclcpp_action::Client<Recovery>::SharedPtr action_client_recovery_: Action client used by the move_base action.

double dist_to_goal_: current distance to goal (we will stop replanning if very close to avoid destabilizing the controller)

rclcpp::Duration replanning_period_: Replanning period dynamically reconfigurable.

std::thread replanning_thread_: Replanning thread, running permanently.

bool replanning_thread_shutdown_

bool recovery_enabled_: true, if recovery behavior for the MoveBase action is enabled.

std::vector<std::string> actions_recovery_behaviors_: Gets set when a move base actions starts. These are the recovery behaviors that will be used by the move base action.

std::vector<std::string>::iterator current_recovery_behavior_: Points to an element in actions_recovery_behaviors_. This is the current recovery behavior, we might try different behaviors for recovery one after another.

std::vector<std::string> available_recovery_behaviors_: All available recovery behaviors. Gets set in the constructor, will be used as default actions_recovery_behaviors_ if none are specified in the action goal.

MoveBaseActionState action_state_

MoveBaseActionState recovery_trigger_