easynav Namespace Reference

Namespaces
namespace	detail
namespace	safety
namespace	testing

Classes
class	CircularBuffer
	Fixed-size circular buffer, thread-safe (mutex-based), copyable. More...
class	ControllerNode
	ROS 2 lifecycle node that manages calculating speeds for the Easy Navigation system. More...
class	DetectionsPerception
class	DetectionsPerceptionsHandler
	Handles the creation and updating of DetectionsPerceptions instances from sensor_msgs::msg::Image messages. More...
class	DummyController
	A default "dummy" implementation for the Control Method. More...
class	DummyLocalizer
	A default "do-nothing" implementation of LocalizerMethodBase. More...
class	DummyMapsManager
	A default "do-nothing" implementation of MapsManagerBase. More...
class	DummyPlanner
	A default "do-nothing" implementation of PlannerMethodBase. More...
class	FaultyController
	Controller that misbehaves on purpose, to test how EasyNav copes with it. More...
class	FaultyLocalizer
	Localizer that misbehaves on purpose, to test how EasyNav copes with it. More...
class	FaultyMapsManager
	Maps manager that misbehaves on purpose, to test how EasyNav copes with it. More...
class	FaultyPlanner
	Planner that misbehaves on purpose, to test how EasyNav copes with it. More...
class	GNSSPerception
	Represents a single GNSS perception from a sensor. More...
class	GNSSPerceptionHandler
	Handles the creation and updating of GNSSPerception instances from sensor_msgs::msg::NavSatFix messages. More...
class	GoalManager
	Handles navigation goals, their lifecycle, and command interface. More...
class	GoalManagerClient
	Client-side interface for interacting with GoalManager. More...
class	ImagePerception
	Represents a single image perception from a sensor. More...
class	ImagePerceptionHandler
	Handles the creation and updating of ImagePerception instances from sensor_msgs::msg::Image messages. More...
class	IMUPerception
	Represents a single IMU perception from a sensor. More...
class	IMUPerceptionHandler
	Handles the creation and updating of IMUPerception instances from sensor_msgs::msg::Imu messages. More...
struct	LegacyRobotGeometryNames
	Deprecated parameter names (full names on the node, "" = none) for each field. More...
class	LocalizerNode
	ROS 2 lifecycle node that manages localization in Easy Navigation. More...
class	MapsManagerNode
	ROS 2 lifecycle node that manages map-related plugins in Easy Navigation. More...
class	NavState
	A generic, type-safe, thread-safe blackboard to hold runtime state. More...
class	OdometryPerception
	Represents a single odometry perception from a sensor. More...
class	OdometryPerceptionHandler
	Handles the creation and updating of OdometryPerception instances from nav_msgs::msg::Odometry messages. More...
class	PerceptionBase
	Abstract base class for representing a single sensor perception. More...
class	PerceptionHandler
	Abstract base class for pluginlib-based sensor perception handlers. More...
class	PlannerNode
	ROS 2 lifecycle node that manages path planning in Easy Navigation. More...
class	PointPerception
	Concrete perception class for 3D point cloud data. More...
struct	PointPerceptionBufferType
class	PointPerceptionHandler
	PerceptionHandler implementation for sensors producing point-based data. More...
class	PointPerceptionsOpsView
	Provides efficient, non-destructive, chainable operations over a set of point-based perceptions. More...
struct	RobotGeometry
	The robot's shape, shared by everything that needs it. More...
class	RobotGeometryRegistry
	Shares the robot's geometry across EasyNav's nodes. More...
class	RTTFBuffer
	Provides functionality for RTTFBuffer. More...
class	SensorsNode
	ROS 2 lifecycle node that manages sensor fusion in Easy Navigation. More...
class	Singleton
class	SystemNode
	ROS 2 lifecycle node coordinating all Easy Navigation components. More...
struct	SystemNodeInfo
	Structure holding runtime information for a subnode. More...
struct	TFInfo
	Aggregated TF configuration used across EasyNav. More...
class	VelocityMux
	Decides, every RT cycle, which velocity command is sent to the robot. More...
class	VelocitySmoother
	Brings the commanded velocity towards a target within the robot limits. More...
class	YTSession
	A Yaets Tracing Session. More...

Typedefs
using	CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
using	DetectionsPerceptions
using	GNSSPerceptions
	Alias for a vector of shared pointers to GNSSPerception objects.
using	ImagePerceptions
	Alias for a vector of shared pointers to ImagePerception objects.
using	IMUPerceptions
	Alias for a vector of shared pointers to IMUPerception objects.
using	OdometryPerceptions
	Alias for a vector of shared pointers to OdometryPerception objects.
using	PerceptionBasePtr = std::shared_ptr<PerceptionBase>
	Shared pointer alias to PerceptionBase.
using	PointPerceptions
	Alias for a vector of shared pointers to PointPerception objects.

Functions
std::string	backtrace_to_string (std::size_t max_frames=64, std::size_t skip=0)
double	calculate_angle (const geometry_msgs::msg::Pose &pose1, const geometry_msgs::msg::Pose &pose2)
	Get the (absolute) yaw angle difference between two poses.
double	calculate_distance_xy (const geometry_msgs::msg::Pose &pose1, const geometry_msgs::msg::Pose &pose2)
	Internal utility functions.
std::string	check_memory_lock ()
	Whether lock_memory() is allowed (RLIMIT_MEMLOCK unlimited), without locking.
std::string	check_real_time_priority (int priority)
	Whether a thread of this process can get SCHED_FIFO priority, tried on a temporary thread.
void	convert (const sensor_msgs::msg::LaserScan &scan, pcl::PointCloud< pcl::PointXYZ > &pc)
	Converts a LaserScan message into a point cloud.
template<typename T, typename NodeT>
void	declare_parameter_if_absent (NodeT &node, const std::string &name, const T &default_value)
	Declares name with default_value unless it already exists.
std::string	demangle (const char *name)
	Demangles a C++ RTTI type name if possible.
rclcpp::Time	get_latest_detections_perceptions_stamp (const DetectionsPerceptions &perceptions)
	Retrieves the latest timestamp among a set of detection-based perceptions.
rclcpp::Time	get_latest_gnss_perceptions_stamp (const GNSSPerceptions &perceptions)
	Retrieves the latest timestamp among a set of GNSS perceptions.
rclcpp::Time	get_latest_image_perceptions_stamp (const ImagePerceptions &perceptions)
	Retrieves the latest timestamp among a set of image-based perceptions.
rclcpp::Time	get_latest_imu_perceptions_stamp (const IMUPerceptions &perceptions)
	Retrieves the latest timestamp among a set of IMU perceptions.
rclcpp::Time	get_latest_odometry_perceptions_stamp (const OdometryPerceptions &perceptions)
	Retrieves the latest timestamp among a set of odometry perceptions.
rclcpp::Time	get_latest_point_perceptions_stamp (const PointPerceptions &perceptions)
	Retrieves the latest timestamp among a set of point-based perceptions.
std::filesystem::path	get_package_share_path (const std::string &package_name)
	Returns the share directory of package_name.
template<typename T = PerceptionBase>
std::vector< std::shared_ptr< T > >	get_perceptions (const std::vector< PerceptionBasePtr > &src)
	Extracts a homogeneous collection of perceptions of type T from a heterogeneous vector.
template<typename NodeT>
RobotGeometry	get_robot_geometry (NodeT &node, const LegacyRobotGeometryNames &legacy={})
	The robot's geometry ("system_node.robot_geometry.*").
std::string	lock_memory ()
	Locks the process memory, current and future, so the RT cycle never page-faults.
template<class NodeT, class ListenerT = tf2_ros::TransformListener>
std::unique_ptr< ListenerT >	make_transform_listener (tf2::BufferCore &buffer, const std::shared_ptr< NodeT > &node, bool spin_thread=true)
	Creates a TransformListener attached to node.
constexpr double	norm_angle (const double angle)
	Angle normalization to [-pi, pi) range (in radians).
sensor_msgs::msg::PointCloud2	perception_to_rosmsg (const PointPerception &perception)
	Converts a PointPerception into a sensor_msgs::msg::PointCloud2 message.
sensor_msgs::msg::PointCloud2	points_to_rosmsg (const pcl::PointCloud< pcl::PointXYZ > &points)
	Converts a PCL point cloud into a sensor_msgs::msg::PointCloud2 message.
std::string	set_real_time_priority (int priority)
	Gives the calling thread SCHED_FIFO priority.
std::string	stacktrace (std::size_t skip=1, std::size_t max_frames=64)
	Captures a C/C++ stack trace as a string.

Variables
constexpr int	kRealTimePriority = 80
	SCHED_FIFO priority of EasyNav's real-time cycle.
template<class C>
C *	Singleton< C >::instance_ = nullptr
template<class C>
std::mutex	Singleton< C >::mutex_

Typedef Documentation

CallbackReturnT

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

DetectionsPerceptions

using DetectionsPerceptions

Initial value:

 
std::vector<std::shared_ptr<DetectionsPerception>>

GNSSPerceptions

using GNSSPerceptions

Initial value:

 
std::vector<std::shared_ptr<GNSSPerception>>

Alias for a vector of shared pointers to GNSSPerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

ImagePerceptions

using ImagePerceptions

Initial value:

 
std::vector<std::shared_ptr<ImagePerception>>

Alias for a vector of shared pointers to ImagePerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

IMUPerceptions

using IMUPerceptions

Initial value:

 
std::vector<std::shared_ptr<IMUPerception>>

Alias for a vector of shared pointers to IMUPerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

OdometryPerceptions

using OdometryPerceptions

Initial value:

 
std::vector<std::shared_ptr<OdometryPerception>>

Alias for a vector of shared pointers to OdometryPerception objects.

The container can represent a time-ordered or batched collection, depending on producer logic.

PerceptionBasePtr

using PerceptionBasePtr = std::shared_ptr<PerceptionBase>

Shared pointer alias to PerceptionBase.

PointPerceptions

using PointPerceptions

Initial value:

 
std::vector<std::shared_ptr<PointPerception>>

Alias for a vector of shared pointers to PointPerception objects.

Function Documentation

backtrace_to_string()

std::string backtrace_to_string	(	std::size_t	max_frames = 64,
		std::size_t	skip = 0 )

calculate_angle()

double calculate_angle	(	const geometry_msgs::msg::Pose &	pose1,
		const geometry_msgs::msg::Pose &	pose2 )

Get the (absolute) yaw angle difference between two poses.

Parameters

pose1	First pose
pose2	Second pose

calculate_distance_xy()

double calculate_distance_xy	(	const geometry_msgs::msg::Pose &	pose1,
		const geometry_msgs::msg::Pose &	pose2 )

Internal utility functions.

Get the x/y distance between two poses

Parameters

pose1	First pose
pose2	Second pose

check_memory_lock()

std::string check_memory_lock

(

)

Whether lock_memory() is allowed (RLIMIT_MEMLOCK unlimited), without locking.

Returns

"" if it is, otherwise why not.

check_real_time_priority()

std::string check_real_time_priority

(

int

priority

)

Whether a thread of this process can get SCHED_FIFO priority, tried on a temporary thread.

Returns

"" if it can, otherwise why not.

convert()

void convert	(	const sensor_msgs::msg::LaserScan &	scan,
		pcl::PointCloud< pcl::PointXYZ > &	pc )

Converts a LaserScan message into a point cloud.

Parameters

scan	Input laser scan message.
pc	Output point cloud (XYZ).

declare_parameter_if_absent()

template<typename T, typename NodeT>

void declare_parameter_if_absent	(	NodeT &	node,
		const std::string &	name,
		const T &	default_value )

Declares name with default_value unless it already exists.

A plugin may be initialized again on the same node (EasyNav reconfigured), possibly after a plugin of another type under the same name that shared some of its parameters: each parameter must be checked on its own, never assumed to be declared along with others.

demangle()

std::string demangle

(

const char *

name

)

Demangles a C++ RTTI type name if possible.

Parameters

name	Mangled type name (from typeid(T).name()).

Returns

Readable (demangled) type name if available; otherwise returns name.

get_latest_detections_perceptions_stamp()

rclcpp::Time get_latest_detections_perceptions_stamp

(

const DetectionsPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of detection-based perceptions.

Parameters

perceptions

Container of detection-based perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_gnss_perceptions_stamp()

rclcpp::Time get_latest_gnss_perceptions_stamp

(

const GNSSPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of GNSS perceptions.

Parameters

perceptions

Container of GNSS perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_image_perceptions_stamp()

rclcpp::Time get_latest_image_perceptions_stamp

(

const ImagePerceptions &

perceptions

)

Retrieves the latest timestamp among a set of image-based perceptions.

Parameters

perceptions

Container of image-based perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_imu_perceptions_stamp()

rclcpp::Time get_latest_imu_perceptions_stamp

(

const IMUPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of IMU perceptions.

Parameters

perceptions

Container of IMU perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_odometry_perceptions_stamp()

rclcpp::Time get_latest_odometry_perceptions_stamp

(

const OdometryPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of odometry perceptions.

Parameters

perceptions

Container of odometry perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_latest_point_perceptions_stamp()

rclcpp::Time get_latest_point_perceptions_stamp

(

const PointPerceptions &

perceptions

)

Retrieves the latest timestamp among a set of point-based perceptions.

Parameters

perceptions

Container of point-based perceptions.

Returns

The most recent timestamp found in perceptions, or a default-constructed rclcpp::Time if perceptions is empty.

get_package_share_path()

std::filesystem::path get_package_share_path

(

const std::string &

package_name

)

Returns the share directory of package_name.

Exceptions

ament_index_cpp::PackageNotFoundError

if the package is not found.

get_perceptions()

template<typename T = PerceptionBase>

std::vector< std::shared_ptr< T > > get_perceptions

(

const std::vector< PerceptionBasePtr > &

src

)

Extracts a homogeneous collection of perceptions of type T from a heterogeneous vector.

This helper iterates the input vector of PerceptionBasePtr and attempts a std::dynamic_pointer_cast<T> and includes only those perceptions that match (homogeneous view).

Template Parameters

T	Target perception type. Must inherit from PerceptionBase. Defaults to PerceptionBase.

Parameters

src	Source vector containing pointers to heterogeneous perceptions ( PerceptionBasePtr ).

Returns

A vector of std::shared_ptr<T> containing the matching perceptions, in the same order as src.

get_robot_geometry()

template<typename NodeT>

RobotGeometry get_robot_geometry	(	NodeT &	node,
		const LegacyRobotGeometryNames &	legacy = {} )

The robot's geometry ("system_node.robot_geometry.*").

A deprecated parameter of node listed in legacy still applies, with a warning, when it is configured (in the parameter files, or declared by a previous instance) and "robot_geometry" does not configure that field; otherwise it is ignored, with a warning too.

Parameters

node	Node holding the deprecated parameters.
legacy	Full names of the deprecated parameters.

lock_memory()

std::string lock_memory

(

)

Locks the process memory, current and future, so the RT cycle never page-faults.

Requires an unlimited RLIMIT_MEMLOCK: with a finite one, later allocations could fail.

Returns

"" on success, otherwise why not.

make_transform_listener()

template<class NodeT, class ListenerT = tf2_ros::TransformListener>

std::unique_ptr< ListenerT > make_transform_listener	(	tf2::BufferCore &	buffer,
		const std::shared_ptr< NodeT > &	node,
		bool	spin_thread = true )

Creates a TransformListener attached to node.

Up to Kilted, tf2_ros takes the node as a pointer; from Lyrical, as NodeInterfaces (the pointer form is deprecated in Lyrical and removed in Rolling).

norm_angle()

double norm_angle ( const double angle )

constexpr

Angle normalization to [-pi, pi) range (in radians).

perception_to_rosmsg()

sensor_msgs::msg::PointCloud2 perception_to_rosmsg

(

const PointPerception &

perception

)

Converts a PointPerception into a sensor_msgs::msg::PointCloud2 message.

Parameters

perception

Perception to convert.

Returns

The resulting ROS PointCloud2 message.

points_to_rosmsg()

sensor_msgs::msg::PointCloud2 points_to_rosmsg

(

const pcl::PointCloud< pcl::PointXYZ > &

points

)

Converts a PCL point cloud into a sensor_msgs::msg::PointCloud2 message.

Parameters

points

Input point cloud.

Returns

The resulting ROS PointCloud2 message.

set_real_time_priority()

std::string set_real_time_priority

(

int

priority

)

Gives the calling thread SCHED_FIFO priority.

Returns

"" on success, otherwise why not.

stacktrace()

std::string stacktrace	(	std::size_t	skip = 1,
		std::size_t	max_frames = 64 )

Captures a C/C++ stack trace as a string.

Parameters

skip	Number of initial frames to skip (e.g., the stacktrace frame itself).
max_frames	Maximum number of frames to capture.

Returns

A multi-line string with one frame per line.

Variable Documentation

kRealTimePriority

int kRealTimePriority = 80

constexpr

SCHED_FIFO priority of EasyNav's real-time cycle.

Singleton< C >::instance_

template<class C>

C* Singleton< C >::instance_ = nullptr

Singleton< C >::mutex_

template<class C>

std::mutex Singleton< C >::mutex_