RobotNavigationWatcher Class Reference

Watches one robot's planned path and can pause/resume its navigation. More...

#include <robot_navigation_watcher.hpp>

Public Member Functions
	RobotNavigationWatcher (rclcpp::Node &node, const std::string &robot_id, const std::string &planner_plugin_key)
const std::string &	robot_id () const
	Robot namespace this watcher was constructed for.
const nav_msgs::msg::Path &	get_latest_path () const
	Most recently received planned path.
void	pause ()
	Ask this robot's GoalManager to pause its navigation.
void	resume ()
	Ask this robot's GoalManager to resume its navigation.
bool	is_paused () const
	Whether this robot's navigation is currently paused, per the last PAUSED/RESUMED confirmation received.

Detailed Description

Watches one robot's planned path and can pause/resume its navigation.

Deliberately does not own a separate rclcpp::Node or easynav::GoalManagerClient: those are designed for "one process talks to one robot" (a fixed node namespace resolves the relative "easynav_control"/"path" topic names), which doesn't fit NavigationManagerNode watching many robots from a single process. Instead, this class creates its publisher/subscriptions directly on the given node – once, in the constructor – using each robot's fully-qualified topic names (e.g. "/robot_1/easynav_control"), and reimplements just the PAUSE/RESUME subset of GoalManager's control protocol (see GoalManager.cpp's PAUSE/RESUME handling in easynav_system): the SEND_GOAL/CANCEL machinery isn't needed here, this class never sends a goal.

node ends up being serviced by whichever single executor the caller spins it with – no dedicated executor or thread of its own, and (since every callback then runs on that one thread) no locking either.

Constructor & Destructor Documentation

RobotNavigationWatcher()

RobotNavigationWatcher	(	rclcpp::Node &	node,
		const std::string &	robot_id,
		const std::string &	planner_plugin_key )

Parameters

node	Node to create the publisher/subscriptions on. Must outlive this watcher.
robot_id	Robot namespace, without a leading slash (e.g. "robot_1").
planner_plugin_key	The planner_types entry name configured on that robot's PlannerNode (e.g. "simple") – determines the path topic to subscribe to.

Member Function Documentation

get_latest_path()

const nav_msgs::msg::Path & get_latest_path ( ) const

inlinenodiscard

Most recently received planned path.

Empty (default-constructed nav_msgs::msg::Path) if none has arrived yet.

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The documentation for this class was generated from the following files:

• easyfleet_navigation_manager/include/easyfleet_navigation_manager/robot_navigation_watcher.hpp
• easyfleet_navigation_manager/src/easyfleet_navigation_manager/robot_navigation_watcher.cpp