EasynavNavigationActionServer Class Reference

Real navigation capability backed by EasyNav (via easynav::GoalManagerClient) and structured internally as a BehaviorTree.CPP tree. More...

#include <easynav_navigation_capability.hpp>

Inheritance diagram for EasynavNavigationActionServer:

Public Member Functions
	EasynavNavigationActionServer (rclcpp_lifecycle::LifecycleNode &node, const std::string &action_name)
	Constructs the action server.
Public Member Functions inherited from ActionServerBase< easyfleet_interfaces::action::Navigation >
	ActionServerBase (const ActionServerBase &)=delete
ActionServerBase &	operator= (const ActionServerBase &)=delete
const std::string &	get_action_name () const noexcept
	Fully-qualified name of the action served by this instance.
bool	is_active () const
	Whether a goal is currently executing.
bool	is_preemptable () const noexcept
	Current value of the "allow_preemption" parameter for this action.

Protected Member Functions
rclcpp_action::GoalResponse	on_goal_received (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const Goal > goal) override
	Accepts only goals whose parameters_json names a known goal_id.
void	on_execute (const GoalHandleSharedPtr goal_handle) override
	Builds and ticks the BT tree named by behavior_tree_xml_, driving gm_client_ through the Navigate node until the tree reaches SUCCESS/FAILURE or the goal is canceled/preempted/shut down.
Protected Member Functions inherited from ActionServerBase< easyfleet_interfaces::action::Navigation >
virtual rclcpp_action::GoalResponse	on_goal_received (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const Goal > goal)=0
	Validate an incoming goal.
virtual rclcpp_action::CancelResponse	on_cancel_requested (const GoalHandleSharedPtr goal_handle)
	Decide whether a cancel request (via the action's cancel service) should be accepted.
virtual void	on_preempted (const GoalHandleSharedPtr &preempted_goal_handle)
	Optional hook invoked (from the accepting thread, not the worker thread) when a new goal is about to preempt the currently running one.
bool	is_preempt_requested () const noexcept
	Whether a newer goal has been accepted and is waiting to replace the one currently executing.
bool	is_shutdown_requested () const noexcept
	Whether this object is being destroyed.
rclcpp::Logger	logger () const
	Logger of the node hosting this action server.

Additional Inherited Members
Public Types inherited from ActionServerBase< easyfleet_interfaces::action::Navigation >
using	ActionType
	The wrapped rclcpp_action action type.
using	Goal
	Goal type of the wrapped action.
using	Feedback
	Feedback type of the wrapped action.
using	Result
	Result type of the wrapped action.
using	GoalHandle
	rclcpp_action server-side goal handle type of the wrapped action.
using	GoalHandleSharedPtr
	Shared pointer to a GoalHandle.
using	SharedPtr
	Shared pointer to an ActionServerBase<ActionT>.

Detailed Description

Real navigation capability backed by EasyNav (via easynav::GoalManagerClient) and structured internally as a BehaviorTree.CPP tree.

Named waypoints are configured as ROS parameters and resolved to poses by the Navigate node (provided by this package as a BT.CPP plugin) – EasyNav itself has no named-waypoint concept. The incoming ROS goal selects one by id via parameters_json: {"goal_id": "<id>"} (target_pose/waypoints on the goal itself go unused by this backend).

This class has no compile-time knowledge of which BT nodes make up the tree beyond Navigate: the bt_plugins parameter names the BT.CPP plugin shared libraries (built with BT_REGISTER_NODES, loaded via BT::BehaviorTreeFactory::registerFromPlugin()) to load before building the tree named by behavior_tree_xml. A deployment package supplies its own bookend nodes (e.g. StartOff/Finish) this way, without this package depending on them.

Constructor & Destructor Documentation

EasynavNavigationActionServer()

EasynavNavigationActionServer	(	rclcpp_lifecycle::LifecycleNode &	node,
		const std::string &	action_name )

Constructs the action server.

Parameters

node	Lifecycle node that will host this action server.
action_name	Name under which the action is advertised.

Member Function Documentation

on_execute()

void on_execute ( const GoalHandleSharedPtr goal_handle )

overrideprotectedvirtual

Builds and ticks the BT tree named by behavior_tree_xml_, driving gm_client_ through the Navigate node until the tree reaches SUCCESS/FAILURE or the goal is canceled/preempted/shut down.

Parameters

goal_handle

Handle of the accepted goal to run to completion.

Implements ActionServerBase< easyfleet_interfaces::action::Navigation >.

on_goal_received()

rclcpp_action::GoalResponse on_goal_received ( const rclcpp_action::GoalUUID & uuid, std::shared_ptr< const Goal > goal )

overrideprotected

Accepts only goals whose parameters_json names a known goal_id.

Parameters

uuid	Id of the incoming goal.
goal	Goal content to validate.

Returns

ACCEPT_AND_EXECUTE if goal_id resolves to a configured waypoint, REJECT otherwise.

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

• easyfleet_example_deployments/easyfleet_easynav_deployment/include/easyfleet_easynav_deployment/easynav_navigation_capability.hpp
• easyfleet_example_deployments/easyfleet_easynav_deployment/src/easyfleet_easynav_deployment/easynav_navigation_capability.cpp