Class ConstrainedSmoother

Inheritance Relationships

Base Type

  • public nav2_core::Smoother

Class Documentation

class ConstrainedSmoother : public nav2_core::Smoother

Regulated pure pursuit controller plugin.

Public Functions

ConstrainedSmoother() = default

Constructor for nav2_constrained_smoother::ConstrainedSmoother.

~ConstrainedSmoother() override = default

Destrructor for nav2_constrained_smoother::ConstrainedSmoother.

void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr<tf2_ros::Buffer> tf, std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub, std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub) override

Configure smoother parameters and member variables.

Parameters:

  • parent – WeakPtr to node

  • name – Name of plugin

  • tf – TF buffer

  • costmap_ros – Costmap2DROS object of environment

void cleanup() override

Cleanup controller state machine.

void activate() override

Activate controller state machine.

void deactivate() override

Deactivate controller state machine.

bool smooth(nav_msgs::msg::Path &path, const rclcpp::Duration &max_time) override

Method to smooth given path.

Parameters:

  • path – In-out path to be optimized

  • max_time – Maximum duration smoothing should take

Returns:

Smoothed path

Protected Attributes

std::shared_ptr<tf2_ros::Buffer> tf_
std::string plugin_name_
std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_
rclcpp::Logger logger_ = {rclcpp::get_logger("ConstrainedSmoother")}
std::unique_ptr<nav2_constrained_smoother::Smoother> smoother_
SmootherParams smoother_params_
OptimizerParams optimizer_params_