#include <local_planner_component.h>

Public Member Functions
	LocalPlannerComponent (const rclcpp::NodeOptions &options)
	Constructor.

	~LocalPlannerComponent ()
	Destructor.

bool	initialize ()

void	executeIteration ()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()

Detailed Description

Class LocalPlannerComponent - ROS 2 component node that implements a local planner.

Definition at line 85 of file local_planner_component.h.

Constructor & Destructor Documentation

◆ LocalPlannerComponent()

moveit::hybrid_planning::LocalPlannerComponent::LocalPlannerComponent ( const rclcpp::NodeOptions & options )

Constructor.

Definition at line 57 of file local_planner_component.cpp.

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◆ ~LocalPlannerComponent()

moveit::hybrid_planning::LocalPlannerComponent::~LocalPlannerComponent ( )

inline

Destructor.

Definition at line 92 of file local_planner_component.h.

Member Function Documentation

◆ executeIteration()

void moveit::hybrid_planning::LocalPlannerComponent::executeIteration ( )

Handle the planners current job based on the internal state each iteration when the planner is started.

Definition at line 252 of file local_planner_component.cpp.

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◆ get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr moveit::hybrid_planning::LocalPlannerComponent::get_node_base_interface ( )

inline

Definition at line 116 of file local_planner_component.h.

◆ initialize()

bool moveit::hybrid_planning::LocalPlannerComponent::initialize ( )

Initialize and start planning scene monitor to listen to the planning scene topic. Load trajectory_operator and constraint solver plugin. Initialize ROS 2 interfaces

Returns: true if scene monitor and plugins are successfully initialized

Definition at line 69 of file local_planner_component.cpp.