Class AssistedTeleop

• Defined in File assisted_teleop.hpp

Inheritance Relationships

Base Type

• public nav2_behaviors::TimedBehavior< AssistedTeleopAction > (Template Class TimedBehavior)

Class Documentation

class AssistedTeleop : public nav2_behaviors::TimedBehavior<AssistedTeleopAction>

An action server behavior for assisted teleop.

Public Types

using AssistedTeleopActionGoal = AssistedTeleopAction::Goal

Public Functions

AssistedTeleop()

ResultStatus onRun(const std::shared_ptr<const AssistedTeleopActionGoal> command) override

Initialization to run behavior.

Parameters:

command – Goal to execute

Returns:

Status of behavior

virtual void onActionCompletion() override

func to run at the completion of the action

virtual ResultStatus onCycleUpdate() override

Loop function to run behavior.

Returns:

Status of behavior

inline virtual CostmapInfoType getResourceInfo() override

Method to determine the required costmap info.

Returns:

costmap resources needed

Protected Functions

virtual void onConfigure() override

Configuration of behavior action.

geometry_msgs::msg::Pose2D projectPose(const geometry_msgs::msg::Pose2D &pose, const geometry_msgs::msg::Twist &twist, double projection_time)

project a position

Parameters:

• pose – initial pose to project

• twist – velocity to project pose by

• projection_time – time to project by

void teleopVelocityCallback(const geometry_msgs::msg::Twist::SharedPtr msg)

Callback function for velocity subscriber.

Parameters:

msg – received Twist message

void preemptTeleopCallback(const std_msgs::msg::Empty::SharedPtr msg)

Callback function to preempt assisted teleop.

Parameters:

msg – empty message

Protected Attributes

AssistedTeleopAction::Feedback::SharedPtr feedback_

double projection_time_

double simulation_time_step_

geometry_msgs::msg::Twist teleop_twist_

bool preempt_teleop_ = {false}

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr vel_sub_

rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr preempt_teleop_sub_

rclcpp::Duration command_time_allowance_ = {0, 0}

rclcpp::Time end_time_