Drives EasyNav (via easynav::GoalManagerClient) to the waypoint named by the "goal_id" input port, resolved against a fixed id->pose registry (EasyNav itself has no named-waypoint concept – this node is where that resolution happens). More...

#include <navigate.hpp>

Inheritance diagram for Navigate:

Public Member Functions
	Navigate (const std::string &name, const BT::NodeConfig &config)
	Constructs the BT node.
BT::NodeStatus	onStart () override
	Resolves the goal_id input port against the waypoint registry and sends the corresponding pose through gm_client_.
BT::NodeStatus	onRunning () override
	Polls gm_client_ for the in-flight goal's progress.
void	onHalted () override
	No-op: an in-flight EasyNav goal is left alone on halt, deliberately (see the class-level design note on preemption in the owning capability), not canceled here.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	This node's ports: the input port goal_id.

Detailed Description

Drives EasyNav (via easynav::GoalManagerClient) to the waypoint named by the "goal_id" input port, resolved against a fixed id->pose registry (EasyNav itself has no named-waypoint concept – this node is where that resolution happens).

Constructor & Destructor Documentation

◆ Navigate()

Navigate	(	const std::string &	name,
		const BT::NodeConfig &	config )

Constructs the BT node.

Parameters

name	Name of this node instance, as given in the BT XML.
config	BT.CPP node configuration (ports, blackboard); the waypoint registry and GoalManagerClient are read off the blackboard here.

Member Function Documentation

◆ onRunning()

BT::NodeStatus onRunning ( )

override

Polls gm_client_ for the in-flight goal's progress.

Returns: RUNNING while EasyNav is still navigating, SUCCESS/ FAILURE once gm_client_ reports a terminal state.

◆ onStart()

BT::NodeStatus onStart ( )

override

Resolves the goal_id input port against the waypoint registry and sends the corresponding pose through gm_client_.

Returns: RUNNING, or FAILURE if goal_id is missing/unknown.

◆ providedPorts()

BT::PortsList providedPorts ( )

static

This node's ports: the input port goal_id.

Returns: This node's ports: the input port goal_id.

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

easyfleet_easynav_navigation/include/easyfleet_easynav_navigation/bt_nodes/navigate.hpp
easyfleet_easynav_navigation/src/easyfleet_easynav_navigation/navigate.cpp

Public Member Functions