Class PositionGoalChecker

Defined in File position_goal_checker.hpp

Inheritance Relationships

Base Type

public nav2_core::GoalChecker

Class Documentation

class PositionGoalChecker : public nav2_core::GoalChecker 

Goal Checker plugin that only checks XY position, ignoring orientation.

Public Functions

PositionGoalChecker()

~PositionGoalChecker() override = default

virtual void initialize(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override

void reset() override

virtual bool isGoalReached(const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity) override

virtual bool getTolerances(geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance) override

void setXYGoalTolerance(double tolerance)

Set the XY goal tolerance.

Parameters:: tolerance – New tolerance value

Protected Functions

rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)

Callback executed when a parameter change is detected.

Parameters:: parameters – list of changed parameters

Protected Attributes

double xy_goal_tolerance_

double xy_goal_tolerance_sq_

bool stateful_

bool position_reached_

std::string plugin_name_

rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_