PlannerNode Class Reference

ROS 2 lifecycle node that manages path planning in Easy Navigation. More...

#include <PlannerNode.hpp>

Inheritance diagram for PlannerNode:

Collaboration diagram for PlannerNode:

Public Types
using	CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Member Functions
void	cycle (std::shared_ptr< NavState > nav_state, bool trigger=false)
	Execute a non-real-time cycle.
const rclcpp::Time	get_last_execution_ts () const
	Get the timestamp of the last non-RT execution.
const rclcpp::Time	get_last_rt_execution_ts () const
	Get the timestamp of the last real-time execution.
nav_msgs::msg::Path	get_path () const
	Get the current planned path.
CallbackReturnT	on_activate (const rclcpp_lifecycle::State &state)
	Activate the node.
CallbackReturnT	on_cleanup (const rclcpp_lifecycle::State &state)
	Clean up the node.
CallbackReturnT	on_configure (const rclcpp_lifecycle::State &state)
	Configure the node.
CallbackReturnT	on_deactivate (const rclcpp_lifecycle::State &state)
	Deactivate the node.
CallbackReturnT	on_error (const rclcpp_lifecycle::State &state)
	Handle lifecycle transition errors.
CallbackReturnT	on_shutdown (const rclcpp_lifecycle::State &state)
	Shutdown the node.
	PlannerNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
	~PlannerNode ()
	Destructor.

Detailed Description

ROS 2 lifecycle node that manages path planning in Easy Navigation.

Handles lifecycle transitions, plugin loading, and invokes the planner to compute paths.

Member Typedef Documentation

CallbackReturnT

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Constructor & Destructor Documentation

PlannerNode()

PlannerNode ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor.

Parameters

options

Optional node configuration.

~PlannerNode()

~PlannerNode

(

)

Destructor.

Member Function Documentation

cycle()

void cycle	(	std::shared_ptr< NavState >	nav_state,
		bool	trigger = false )

Execute a non-real-time cycle.

Parameters

nav_state	Shared pointer to the navigation state structure.
trigger	If tru, a cycle is executed independently of the frequency set

get_last_execution_ts()

const rclcpp::Time get_last_execution_ts

(

)

const

Get the timestamp of the last non-RT execution.

Returns

Timestamp of the last execution.

get_last_rt_execution_ts()

const rclcpp::Time get_last_rt_execution_ts

(

)

const

Get the timestamp of the last real-time execution.

Returns

Timestamp of the last RT execution.

get_path()

nav_msgs::msg::Path get_path ( ) const

nodiscard

Get the current planned path.

Returns

Path message with the last computed path.

on_activate()

CallbackReturnT on_activate

(

const rclcpp_lifecycle::State &

state

)

Activate the node.

Parameters

state

Current lifecycle state.

Returns

SUCCESS if activation succeeded.

on_cleanup()

CallbackReturnT on_cleanup

(

const rclcpp_lifecycle::State &

state

)

Clean up the node.

Parameters

state

Current lifecycle state.

Returns

SUCCESS if cleanup succeeded.

on_configure()

CallbackReturnT on_configure

(

const rclcpp_lifecycle::State &

state

)

Configure the node.

Parameters

state

Current lifecycle state.

Returns

SUCCESS if configuration succeeded.

on_deactivate()

CallbackReturnT on_deactivate

(

const rclcpp_lifecycle::State &

state

)

Deactivate the node.

Parameters

state

Current lifecycle state.

Returns

SUCCESS if deactivation succeeded.

on_error()

CallbackReturnT on_error

(

const rclcpp_lifecycle::State &

state

)

Handle lifecycle transition errors.

Parameters

state

Current lifecycle state.

Returns

SUCCESS if error handling completed.

on_shutdown()

CallbackReturnT on_shutdown

(

const rclcpp_lifecycle::State &

state

)

Shutdown the node.

Parameters

state

Current lifecycle state.

Returns

SUCCESS if shutdown succeeded.

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

• easynav_planner/include/easynav_planner/PlannerNode.hpp
• easynav_planner/src/easynav_planner/PlannerNode.cpp