easynav::safety Namespace Reference

Classes
class	CommandGuard
	Keeps the velocity command sent to the robot from being stale or invalid. More...
class	ParameterFreezer
	Rejects any change to the parameters of a set of nodes. More...
class	RtMonitor
	Detects real-time cycles that start late. More...
class	SafetyChannelMonitor
	Turns the safety channel's SafetyStatus messages into what EasyNav applies. More...
class	SafetySupervisor
	What SystemNode does for safety, kept out of the navigation logic. More...

Typedefs
using	Nodes = std::map<std::string, rclcpp_lifecycle::LifecycleNode::SharedPtr>
	EasyNav nodes by name.

Functions
std::string	configuration_dump (const Nodes &nodes)
	Every parameter of nodes, one "node/parameter=value" per line, sorted.
std::string	dump_file_name (const std::string &ns, const std::string &hash)
	"easynav_configuration_[<ns>_]<hash>.txt", for the EasyNav in namespace ns.
std::string	loaded_plugins (const Nodes &nodes)
	The loaded plugins: every "<alias>.plugin" listed in a "*_types" parameter, one "\n node: alias [class]" each.
std::string	log_directory ()
	ROS's log directory ($ROS_LOG_DIR, else $ROS_HOME/log, else ~/.ros/log), or "".
std::string	save_dump (const std::string &dump, const std::string &path)
	Writes dump to path, unless it already exists.
std::string	sha256_hex (const std::string &data)
	SHA-256 of data, in hex.

Typedef Documentation

Nodes

using Nodes = std::map<std::string, rclcpp_lifecycle::LifecycleNode::SharedPtr>

EasyNav nodes by name.

Function Documentation

configuration_dump()

std::string configuration_dump

(

const Nodes &

nodes

)

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

dump_file_name()

std::string dump_file_name	(	const std::string &	ns,
		const std::string &	hash )

"easynav_configuration_[<ns>_]<hash>.txt", for the EasyNav in namespace ns.

loaded_plugins()

std::string loaded_plugins

(

const Nodes &

nodes

)

The loaded plugins: every "<alias>.plugin" listed in a "*_types" parameter, one "\n node: alias [class]" each.

log_directory()

std::string log_directory

(

)

ROS's log directory ($ROS_LOG_DIR, else $ROS_HOME/log, else ~/.ros/log), or "".

save_dump()

std::string save_dump	(	const std::string &	dump,
		const std::string &	path )

Writes dump to path, unless it already exists.

Returns

"" on success, otherwise why not.

sha256_hex()

std::string sha256_hex

(

const std::string &

data

)

SHA-256 of data, in hex.