cl_nav2z::CbWaitTransform Class Reference

#include <cb_wait_transform.hpp>

Inheritance diagram for cl_nav2z::CbWaitTransform:

Collaboration diagram for cl_nav2z::CbWaitTransform:

Public Member Functions
	CbWaitTransform (std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout)
virtual	~CbWaitTransform ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onEntry () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tfBuffer_
std::shared_ptr< tf2_ros::TransformListener >	tfListener_
std::string	targetFrame_
std::string	referenceFrame_
rclcpp::Duration	timeout_
std::optional< tf2::Stamped< tf2::Transform > >	result_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()

Detailed Description

Definition at line 34 of file cb_wait_transform.hpp.

Constructor & Destructor Documentation

CbWaitTransform()

cl_nav2z::CbWaitTransform::CbWaitTransform	(	std::string	targetFrame,
		std::string	referenceFrame,
		rclcpp::Duration	timeout
	)

Definition at line 24 of file cb_wait_transform.cpp.

: targetFrame_(targetFrame), referenceFrame_(referenceFrame), timeout_(timeout)
{
}

~CbWaitTransform()

cl_nav2z::CbWaitTransform::~CbWaitTransform ( )

virtual

Definition at line 30 of file cb_wait_transform.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbWaitTransform::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 32 of file cb_wait_transform.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[CbWaitTransform] ref %s -> target %s", referenceFrame_.c_str(),
    targetFrame_.c_str());
 
  tfBuffer_ = std::make_shared<tf2_ros::Buffer>(getNode()->get_clock());
  tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
 
  tf2::Stamped<tf2::Transform> transform;
  try
  {
    auto transformstamped =
      tfBuffer_->lookupTransform(targetFrame_, referenceFrame_, getNode()->now(), timeout_);
    tf2::fromMsg(transformstamped, transform);
 
    result_ = transform;
 
    RCLCPP_INFO(
      getLogger(), "[CbWaitTransform] Success wait transform ref %s -> target %s",
      referenceFrame_.c_str(), targetFrame_.c_str());
    this->postSuccessEvent();
  }
  catch (tf2::TransformException & ex)
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "[CbWaitTransform] Failure waiting transform ( ref "
                     << targetFrame_ << "/ target " << referenceFrame_ << " - " << ex.what());
    this->postFailureEvent();
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), referenceFrame_, result_, targetFrame_, tfBuffer_, tfListener_, and timeout_.

Here is the call graph for this function:

onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbWaitTransform::onOrthogonalAllocation ( )

inline

Definition at line 42 of file cb_wait_transform.hpp.

  {
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

Member Data Documentation

referenceFrame_

std::string cl_nav2z::CbWaitTransform::referenceFrame_

protected

Definition at line 55 of file cb_wait_transform.hpp.

Referenced by onEntry().

result_

std::optional<tf2::Stamped<tf2::Transform> > cl_nav2z::CbWaitTransform::result_

protected

Definition at line 58 of file cb_wait_transform.hpp.

Referenced by onEntry().

targetFrame_

std::string cl_nav2z::CbWaitTransform::targetFrame_

protected

Definition at line 54 of file cb_wait_transform.hpp.

Referenced by onEntry().

tfBuffer_

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::CbWaitTransform::tfBuffer_

protected

Definition at line 51 of file cb_wait_transform.hpp.

Referenced by onEntry().

tfListener_

std::shared_ptr<tf2_ros::TransformListener> cl_nav2z::CbWaitTransform::tfListener_

protected

Definition at line 52 of file cb_wait_transform.hpp.

Referenced by onEntry().

timeout_

rclcpp::Duration cl_nav2z::CbWaitTransform::timeout_

protected

Definition at line 56 of file cb_wait_transform.hpp.

Referenced by onEntry().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_wait_transform.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_wait_transform.cpp