23#ifndef EASYNAV_CONTROLLER__DUMMYCONTROLLER_HPP_
24#define EASYNAV_CONTROLLER__DUMMYCONTROLLER_HPP_
28#include "geometry_msgs/msg/twist_stamped.hpp"
30#include "easynav_core/ControllerMethodBase.hpp"
58 virtual std::expected<void, std::string>
on_initialize()
override;
73 geometry_msgs::msg::TwistStamped cmd_vel_;
75 double cycle_time_rt_ {0.0};
76 double cycle_time_nort_ {0.0};
virtual void update_rt(NavState &nav_state) override
Run the control method and update the control command.
Definition DummyController.cpp:54
~DummyController()=default
virtual std::expected< void, std::string > on_initialize() override
Initializes the control method plugin.
Definition DummyController.cpp:31
DummyController()=default
A generic, type-safe, lock-free blackboard to hold runtime state.
Definition NavState.hpp:62
Definition RTTFBuffer.hpp:30