Class Behavior

• Defined in File behavior.hpp

Class Documentation

class Behavior

Abstract interface for behaviors to adhere to with pluginlib.

Public Types

using Ptr = std::shared_ptr<Behavior>

Public Functions

inline virtual ~Behavior()

Virtual destructor.

virtual void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr<tf2_ros::Buffer> tf, std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> local_collision_checker, std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> global_collision_checker) = 0

Parameters:

• parent – pointer to user’s node

• name – The name of this planner

• tf – A pointer to a TF buffer

• costmap_ros – A pointer to the costmap

virtual void cleanup() = 0

Method to cleanup resources used on shutdown.

virtual void activate() = 0

Method to active Behavior and any threads involved in execution.

virtual void deactivate() = 0

Method to deactivate Behavior and any threads involved in execution.

virtual CostmapInfoType getResourceInfo() = 0

Method to determine the required costmap info.

Returns:

costmap resources needed