GoalManager Class Reference

Handles navigation goals, their lifecycle, and command interface. More...

#include <GoalManager.hpp>

Classes
struct	GoalTolerance
	A structure to represent the goal tolerances. More...

Public Types
enum class	State { IDLE , ACTIVE }
	Current internal goal state. More...

Public Member Functions
void	check_goals (const geometry_msgs::msg::Pose &current_pose, const GoalTolerance &goal_tolerance)
	Check if the robot is currently at the first goal.
nav_msgs::msg::Goals	get_goals () const
	Get current goals.
State	get_state () const
	Get current internal goal state.
	GoalManager (NavState &nav_state, rclcpp_lifecycle::LifecycleNode::SharedPtr parent_node)
	Constructor.
bool	is_paused () const
	Whether the current navigation (if any) is currently paused.
bool	is_progress_held () const
	Whether the mission's progress is held (see set_progress_held()).
void	read_parameters (NavState &nav_state)
	(Re)reads the parameters (on every configure: the GoalManager outlives cleanup).
void	set_error (const std::string &reason)
	Mark the system as in error state.
void	set_failed (const std::string &reason)
	Mark the current goal as failed.
void	set_finished ()
	Mark the current goal as successfully completed.
void	set_progress_held (bool held)
	Holds or releases the mission's progress.
void	update (NavState &nav_state)
	Update internal logic, including preemption and timeout checks.

Detailed Description

Handles navigation goals, their lifecycle, and command interface.

Manages goal state, handles external control messages, and interacts with navigation components.

Member Enumeration Documentation

State

enum class State

strong

Current internal goal state.

Enumerator
IDLE	No active goal.
ACTIVE	A goal is currently being pursued.

Constructor & Destructor Documentation

GoalManager()

GoalManager	(	NavState &	nav_state,
		rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_node )

Constructor.

Parameters

nav_state	Shared pointer to navigation state.
parent_node	Lifecycle node for parameter and interface management.

Member Function Documentation

check_goals()

void check_goals	(	const geometry_msgs::msg::Pose &	current_pose,
		const GoalTolerance &	goal_tolerance )

Check if the robot is currently at the first goal.

Compares the current pose against the first target in the list using positional and angular tolerances.

Parameters

current_pose	Current pose of the robot.
goal_tolerance	Maximum allowed error for the goal position and orientation.

get_goals()

nav_msgs::msg::Goals get_goals ( ) const

nodiscard

Get current goals.

Returns

Goals message.

get_state()

State get_state ( ) const

nodiscard

Get current internal goal state.

Returns

GoalManager::State value.

is_paused()

bool is_paused ( ) const

nodiscard

Whether the current navigation (if any) is currently paused.

Returns

True if paused.

is_progress_held()

bool is_progress_held ( ) const

nodiscard

Whether the mission's progress is held (see set_progress_held()).

read_parameters()

void read_parameters

(

NavState &

nav_state

)

(Re)reads the parameters (on every configure: the GoalManager outlives cleanup).

set_error()

void set_error

(

const std::string &

reason

)

Mark the system as in error state.

Parameters

reason

Textual explanation.

set_failed()

void set_failed

(

const std::string &

reason

)

Mark the current goal as failed.

Parameters

reason

Textual explanation.

set_finished()

void set_finished

(

)

Mark the current goal as successfully completed.

set_progress_held()

void set_progress_held

(

bool

held

)

Holds or releases the mission's progress.

While held, update() keeps publishing feedback but takes no goal as reached: the robot pose cannot be trusted (see SystemActions::hold_mission_progress()).

update()

void update

(

NavState &

nav_state

)

Update internal logic, including preemption and timeout checks.

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

• easynav_system/include/easynav_system/GoalManager.hpp
• easynav_system/src/easynav_system/GoalManager.cpp