NavigationClient Class Reference

Handles localization responses and sends navigation and excavation requests. More...

Inheritance diagram for NavigationClient:

Collaboration diagram for NavigationClient:

Public Types
using	NavigateToPose = nav2_msgs::action::NavigateToPose
using	GoalHandleNavigate = rclcpp_action::ClientGoalHandle< NavigateToPose >
using	Localization = lunabot_msgs::action::Localization
using	GoalHandleLocalization = rclcpp_action::ClientGoalHandle< Localization >
using	Excavation = lunabot_msgs::action::Excavation
using	GoalHandleExcavation = rclcpp_action::ClientGoalHandle< Excavation >

Public Member Functions
	NavigationClient ()
	Constructor for the NavigationClient class. More...

Private Member Functions
void	execute ()
	Runs the main execution sequence. More...
void	request_localization ()
	Sends localization request to localization server. More...
void	handle_localization_result (const GoalHandleLocalization::WrappedResult &result)
	Handles the result from the localization server. More...
void	request_navigation ()
	Sends goal request to navigation server. More...
void	handle_navigation_result (const GoalHandleNavigate::WrappedResult &result)
	Callback for the result of the navigation goal. More...
void	request_excavation ()
	Sends a request to the excavation server. More...
void	handle_excavation_result (const GoalHandleExcavation::WrappedResult &result)
	Callback for the result of the excavation action. More...

Private Attributes
rclcpp_action::Client< NavigateToPose >::SharedPtr	navigation_client_
rclcpp_action::Client< Localization >::SharedPtr	localization_client_
rclcpp_action::Client< Excavation >::SharedPtr	excavation_client_
rclcpp::TimerBase::SharedPtr	execution_timer_
bool	start_localization_
bool	start_navigation_
bool	start_excavation_
double	initial_x_
double	initial_y_

Detailed Description

Handles localization responses and sends navigation and excavation requests.

Member Typedef Documentation

Excavation

using NavigationClient::Excavation = lunabot_msgs::action::Excavation

GoalHandleExcavation

using NavigationClient::GoalHandleExcavation = rclcpp_action::ClientGoalHandle<Excavation>

GoalHandleLocalization

using NavigationClient::GoalHandleLocalization = rclcpp_action::ClientGoalHandle<Localization>

GoalHandleNavigate

using NavigationClient::GoalHandleNavigate = rclcpp_action::ClientGoalHandle<NavigateToPose>

Localization

using NavigationClient::Localization = lunabot_msgs::action::Localization

NavigateToPose

using NavigationClient::NavigateToPose = nav2_msgs::action::NavigateToPose

Constructor & Destructor Documentation

NavigationClient()

NavigationClient::NavigationClient ( )

inline

Constructor for the NavigationClient class.

Member Function Documentation

execute()

void NavigationClient::execute ( )

inlineprivate

Runs the main execution sequence.

handle_excavation_result()

void NavigationClient::handle_excavation_result ( const GoalHandleExcavation::WrappedResult &  result )

inlineprivate

Callback for the result of the excavation action.

Parameters

result

The result of the excavation action.

handle_localization_result()

void NavigationClient::handle_localization_result ( const GoalHandleLocalization::WrappedResult &  result )

inlineprivate

Handles the result from the localization server.

Parameters

result

The result from the localization action.

handle_navigation_result()

void NavigationClient::handle_navigation_result ( const GoalHandleNavigate::WrappedResult &  result )

inlineprivate

Callback for the result of the navigation goal.

Parameters

result

The result of the goal execution.

request_excavation()

void NavigationClient::request_excavation ( )

inlineprivate

Sends a request to the excavation server.

request_localization()

void NavigationClient::request_localization ( )

inlineprivate

Sends localization request to localization server.

request_navigation()

void NavigationClient::request_navigation ( )

inlineprivate

Sends goal request to navigation server.

Member Data Documentation

excavation_client_

rclcpp_action::Client<Excavation>::SharedPtr NavigationClient::excavation_client_

private

execution_timer_

rclcpp::TimerBase::SharedPtr NavigationClient::execution_timer_

private

initial_x_

double NavigationClient::initial_x_

private

initial_y_

double NavigationClient::initial_y_

private

localization_client_

rclcpp_action::Client<Localization>::SharedPtr NavigationClient::localization_client_

private

navigation_client_

rclcpp_action::Client<NavigateToPose>::SharedPtr NavigationClient::navigation_client_

private

start_excavation_

bool NavigationClient::start_excavation_

private

start_localization_

bool NavigationClient::start_localization_

private

start_navigation_

bool NavigationClient::start_navigation_

private

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

• /home/grayson/dev_ws/src/lunabot_ros/lunabot_nav/src/navigation_client.cpp