Class Navigator
Defined in File navigator.hpp
Class Documentation
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class Navigator
An object the call navigation to obtain initial staging pose.
Public Types
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using Nav2Pose = nav2_msgs::action::NavigateToPose
Public Functions
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explicit Navigator(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent)
A constructor for opennav_docking::Navigator.
- Parameters:
parent – Weakptr to the node to use to get interances and parameters
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~Navigator() = default
A destructor for opennav_docking::Navigator.
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void activate()
An activation method.
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void deactivate()
An deactivation method.
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void goToPose(const geometry_msgs::msg::PoseStamped &pose, rclcpp::Duration remaining_staging_duration, std::function<bool()> isPreempted, bool recursed = false)
An method to go to a particular pose May throw exception if fails to navigate or communicate Blocks until completion.
- Parameters:
pose – Pose to go to
remaining_staging_duration – Remaining time to get to the staging pose
isPreempted – Function to check if preempted
recursed – True if recursed (used to retry once)
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using Nav2Pose = nav2_msgs::action::NavigateToPose