Class SmacPlanner2D

Inheritance Relationships

Base Type

  • public nav2_core::GlobalPlanner

Class Documentation

class SmacPlanner2D : public nav2_core::GlobalPlanner

Public Functions

SmacPlanner2D()

constructor

~SmacPlanner2D()

destructor

virtual void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr<tf2_ros::Buffer> tf, std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override

Configuring plugin.

Parameters:

  • parent – Lifecycle node pointer

  • name – Name of plugin map

  • tf – Shared ptr of TF2 buffer

  • costmap_ros – Costmap2DROS object

virtual void cleanup() override

Cleanup lifecycle node.

virtual void activate() override

Activate lifecycle node.

virtual void deactivate() override

Deactivate lifecycle node.

virtual nav_msgs::msg::Path createPlan(const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal) override

Creating a plan from start and goal poses.

Parameters:

  • start – Start pose

  • goal – Goal pose

Returns:

nav2_msgs::Path of the generated path

Protected Functions

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

Callback executed when a parameter change is detected.

Parameters:

event – ParameterEvent message

Protected Attributes

std::unique_ptr<AStarAlgorithm<Node2D>> _a_star
GridCollisionChecker _collision_checker
std::unique_ptr<Smoother> _smoother
nav2_costmap_2d::Costmap2D *_costmap
std::unique_ptr<CostmapDownsampler> _costmap_downsampler
rclcpp::Clock::SharedPtr _clock
rclcpp::Logger _logger = {rclcpp::get_logger("SmacPlanner2D")}
std::string _global_frame
std::string _name
float _tolerance
int _downsampling_factor
bool _downsample_costmap
rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr _raw_plan_publisher
double _max_planning_time
bool _allow_unknown
int _max_iterations
int _max_on_approach_iterations
bool _use_final_approach_orientation
SearchInfo _search_info
std::string _motion_model_for_search
MotionModel _motion_model
std::mutex _mutex
rclcpp_lifecycle::LifecycleNode::WeakPtr _node
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _dyn_params_handler