GoalManagerClient Class Reference

Client-side interface for interacting with GoalManager. More...

#include <GoalManagerClient.hpp>

Public Types
enum class	State {   IDLE , SENT_GOAL , SENT_PREEMPT , ACCEPTED_AND_NAVIGATING ,   NAVIGATION_FINISHED , NAVIGATION_REJECTED , NAVIGATION_FAILED , NAVIGATION_CANCELLED ,   ERROR }
	Internal state of the client-side goal manager. More...

Public Member Functions
void	cancel ()
	Cancel the current goal.
const easynav_interfaces::msg::NavigationControl &	get_feedback () const
	Get the most recent feedback received.
const easynav_interfaces::msg::NavigationControl &	get_last_control () const
	Get the last control message sent or received.
const easynav_interfaces::msg::NavigationControl &	get_result () const
	Get the last result message received.
State	get_state () const
	Get the current internal state.
	GoalManagerClient (rclcpp::Node::SharedPtr node)
	Constructor.
void	reset ()
	Reset internal client state.
void	send_goal (const geometry_msgs::msg::PoseStamped &goal)
	Send a single goal to the GoalManager.
void	send_goals (const nav_msgs::msg::Goals &goals)
	Send a list of goals to the GoalManager.

Detailed Description

Client-side interface for interacting with GoalManager.

Sends navigation goals, handles feedback and result updates, and manages goal lifecycle state.

Member Enumeration Documentation

State

enum class State

strong

Internal state of the client-side goal manager.

Enumerator
IDLE
SENT_GOAL
SENT_PREEMPT
ACCEPTED_AND_NAVIGATING
NAVIGATION_FINISHED
NAVIGATION_REJECTED
NAVIGATION_FAILED
NAVIGATION_CANCELLED
ERROR

Constructor & Destructor Documentation

GoalManagerClient()

GoalManagerClient

(

rclcpp::Node::SharedPtr

node

)

Constructor.

Parameters

node	Shared pointer to a ROS 2 node.

Member Function Documentation

cancel()

void cancel

(

)

Cancel the current goal.

get_feedback()

const easynav_interfaces::msg::NavigationControl & get_feedback ( ) const

nodiscard

Get the most recent feedback received.

Returns

Reference to the last feedback message.

get_last_control()

const easynav_interfaces::msg::NavigationControl & get_last_control ( ) const

nodiscard

Get the last control message sent or received.

Returns

Reference to the last control message.

get_result()

const easynav_interfaces::msg::NavigationControl & get_result ( ) const

nodiscard

Get the last result message received.

Returns

Reference to the last result message.

get_state()

State get_state ( ) const

nodiscard

Get the current internal state.

Returns

Current State.

reset()

void reset

(

)

Reset internal client state.

send_goal()

void send_goal

(

const geometry_msgs::msg::PoseStamped &

goal

)

Send a single goal to the GoalManager.

Parameters

goal	PoseStamped representing the goal.

send_goals()

void send_goals

(

const nav_msgs::msg::Goals &

goals

)

Send a list of goals to the GoalManager.

Parameters

goals

List of goals to navigate.

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

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