ROS 2 lifecycle node coordinating all Easy Navigation components. More...

#include <SystemNode.hpp>

Inheritance diagram for SystemNode:

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Collaboration diagram for SystemNode:

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

Public Member Functions
void	abort_mission (const std::string &reason) override
	SystemActions: aborts the active mission, if any, telling its client why.
bool	apply_pending_reconfigure ()
	Applies the pending reconfiguration request, if any, while Active: cycles through unconfigured, setting the parameters there.
std::string	get_configuration_dump ()
	Every EasyNav parameter, one "node/parameter=value" per line, sorted.
std::shared_ptr< NavState >	get_nav_state () const
	Access to the shared navigation state (for testing and tools).
std::vector< std::string >	get_nodes_without_clock ()
	EasyNav nodes with use_sim_time whose ROS clock has not started (still at 0): no /clock reaches them, so their components never run.
rclcpp::CallbackGroup::SharedPtr	get_real_time_cbg ()
	Get the real-time callback group.
const safety::SafetySupervisor &	get_safety () const
	Safety mode, memory lock and configuration hash, as of the last configure.
std::string	get_shutdown_reason () const
	Why the shutdown was requested.
std::map< std::string, SystemNodeInfo >	get_system_nodes ()
	Get all system nodes managed by this coordinator.
void	hold_mission_progress (bool hold) override
	SystemActions: while held, GoalManager takes no goal as reached.
bool	is_reconfigure_pending () const
	Whether a reconfiguration is pending.
bool	is_shutdown_requested () const
	Whether the recovery system asked EasyNav to terminate (request_shutdown()).
CallbackReturnT	on_activate (const rclcpp_lifecycle::State &state)
	Activate the node.
CallbackReturnT	on_cleanup (const rclcpp_lifecycle::State &state)
	Cleanup 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 error.
CallbackReturnT	on_shutdown (const rclcpp_lifecycle::State &state)
	Shutdown the node.
bool	request_reconfigure (const std::vector< ParameterChange > &changes, const std::string &reason) override
	SystemActions: pending until apply_pending_reconfigure(); rejected in safety mode.
bool	request_restore_parameters (const std::string &reason) override
	SystemActions: pending until apply_pending_reconfigure(); rejected in safety mode.
void	request_shutdown (const std::string &reason) override
	SystemActions: records that EasyNav must terminate (see is_shutdown_requested()).
void	system_cycle ()
	Non-real-time system cycle.
void	system_cycle_rt ()
	Real-time system cycle.
	SystemNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
	~SystemNode ()
	Destructor.

Static Public Attributes
static constexpr std::chrono::seconds	kClockCheckPeriod {5}
	While Active, how often system_cycle() warns about get_nodes_without_clock().

Detailed Description

ROS 2 lifecycle node coordinating all Easy Navigation components.

Manages lifecycle transitions, real-time execution, and communication between planner, controller, localizer, map manager, and sensor nodes.

Safety ("safety.*" parameters, configuration hash): safety::SafetySupervisor.

Member Typedef Documentation

◆ CallbackReturnT

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

Constructor & Destructor Documentation

◆ SystemNode()

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

explicit

Constructor.

Parameters

options Node options.

◆ ~SystemNode()

~SystemNode ( )

Destructor.

Member Function Documentation

◆ abort_mission()

void abort_mission ( const std::string & reason )

override

SystemActions: aborts the active mission, if any, telling its client why.

◆ apply_pending_reconfigure()

bool apply_pending_reconfigure ( )

Applies the pending reconfiguration request, if any, while Active: cycles through unconfigured, setting the parameters there.

Called by whoever drives this node's lifecycle, between cycles (never from a cycle: the recovery system is reloaded).

Returns: True if EasyNav was reconfigured (with the new values or, if they failed, the previous ones).

◆ get_configuration_dump()

std::string get_configuration_dump ( )

nodiscard

Every EasyNav parameter, one "node/parameter=value" per line, sorted.

◆ get_nav_state()

std::shared_ptr< NavState > get_nav_state ( ) const

nodiscard

Access to the shared navigation state (for testing and tools).

Returns: Shared pointer to the NavState.

◆ get_nodes_without_clock()

std::vector< std::string > get_nodes_without_clock ( )

nodiscard

EasyNav nodes with use_sim_time whose ROS clock has not started (still at 0): no /clock reaches them, so their components never run.

◆ get_real_time_cbg()

rclcpp::CallbackGroup::SharedPtr get_real_time_cbg ( )

Get the real-time callback group.

Returns: Shared pointer to the callback group.

◆ get_safety()

const safety::SafetySupervisor & get_safety ( ) const

nodiscard

Safety mode, memory lock and configuration hash, as of the last configure.

◆ get_shutdown_reason()

std::string get_shutdown_reason ( ) const

nodiscard

Why the shutdown was requested.

◆ get_system_nodes()

std::map< std::string, SystemNodeInfo > get_system_nodes ( )

Get all system nodes managed by this coordinator.

Returns: Map of node names to node information.

◆ hold_mission_progress()

void hold_mission_progress ( bool hold )

override

SystemActions: while held, GoalManager takes no goal as reached.

◆ is_reconfigure_pending()

bool is_reconfigure_pending ( ) const

nodiscard

Whether a reconfiguration is pending.

◆ is_shutdown_requested()

bool is_shutdown_requested ( ) const

nodiscard

Whether the recovery system asked EasyNav to terminate (request_shutdown()).

Whoever drives this node's lifecycle should then deactivate it, which ends in Finalized (see on_deactivate()/on_error()).

◆ on_activate()

CallbackReturnT on_activate ( const rclcpp_lifecycle::State & state )

Activate the node.

Parameters

state Lifecycle state.

Returns: SUCCESS if activation succeeded.

◆ on_cleanup()

CallbackReturnT on_cleanup ( const rclcpp_lifecycle::State & state )

Cleanup the node.

Parameters

state Lifecycle state.

Returns: SUCCESS if cleanup succeeded.

◆ on_configure()

CallbackReturnT on_configure ( const rclcpp_lifecycle::State & state )

Configure the node.

Parameters

state Lifecycle state.

Returns: SUCCESS if configuration succeeded.

◆ on_deactivate()

CallbackReturnT on_deactivate ( const rclcpp_lifecycle::State & state )

Deactivate the node.

Parameters

state Lifecycle state.

Returns: SUCCESS if deactivation succeeded.

◆ on_error()

CallbackReturnT on_error ( const rclcpp_lifecycle::State & state )

Handle lifecycle transition error.

Parameters

state Lifecycle state.

Returns: SUCCESS if error handled.

◆ on_shutdown()

CallbackReturnT on_shutdown ( const rclcpp_lifecycle::State & state )

Shutdown the node.

Parameters

state Lifecycle state.

Returns: SUCCESS if shutdown succeeded.

◆ request_reconfigure()

bool request_reconfigure	(	const std::vector< ParameterChange > &	changes,
		const std::string &	reason )

override

SystemActions: pending until apply_pending_reconfigure(); rejected in safety mode.

◆ request_restore_parameters()

bool request_restore_parameters ( const std::string & reason )

override

SystemActions: pending until apply_pending_reconfigure(); rejected in safety mode.

◆ request_shutdown()

void request_shutdown ( const std::string & reason )

override

SystemActions: records that EasyNav must terminate (see is_shutdown_requested()).

◆ system_cycle()

void system_cycle ( )

Non-real-time system cycle.

◆ system_cycle_rt()

void system_cycle_rt ( )

Real-time system cycle.

Member Data Documentation

◆ kClockCheckPeriod

std::chrono::seconds kClockCheckPeriod {5}

staticconstexpr

While Active, how often system_cycle() warns about get_nodes_without_clock().

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

easynav_system/include/easynav_system/SystemNode.hpp
easynav_system/src/easynav_system/SystemNode.cpp

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackReturnT

Constructor & Destructor Documentation

◆ SystemNode()

◆ ~SystemNode()

Member Function Documentation

◆ abort_mission()

◆ apply_pending_reconfigure()

◆ get_configuration_dump()

◆ get_nav_state()

◆ get_nodes_without_clock()

◆ get_real_time_cbg()

◆ get_safety()

◆ get_shutdown_reason()

◆ get_system_nodes()

◆ hold_mission_progress()

◆ is_reconfigure_pending()

◆ is_shutdown_requested()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_error()

◆ on_shutdown()

◆ request_reconfigure()

◆ request_restore_parameters()

◆ request_shutdown()

◆ system_cycle()

◆ system_cycle_rt()

Member Data Documentation

◆ kClockCheckPeriod