yasmin_demos.nav_demo.Nav2State Class Reference

Inheritance diagram for yasmin_demos.nav_demo.Nav2State:

Collaboration diagram for yasmin_demos.nav_demo.Nav2State:

Public Member Functions
None	__init__ (self)
NavigateToPose.Goal	create_goal_handler (self, Blackboard blackboard)
Public Member Functions inherited from yasmin_ros.action_state.ActionState
None	__init__ (self, Type action_type, str action_name, Callable create_goal_handler, Set[str] outcomes=None, Callable result_handler=None, Callable feedback_handler=None, Node node=None, float timeout=None)
None	cancel_state (self)
str	execute (self, Blackboard blackboard)
Public Member Functions inherited from yasmin.state.State
None	__init__ (self, Set[str] outcomes)
str	__call__ (self, Blackboard blackboard=None)
str	__str__ (self)
bool	is_canceled (self)
bool	is_running (self)
Set[str]	get_outcomes (self)

Public Attributes
	create_goal_handler

Additional Inherited Members
Protected Member Functions inherited from yasmin_ros.action_state.ActionState
None	_goal_response_callback (self, Future future)
None	_get_result_callback (self, Future future)
Protected Attributes inherited from yasmin_ros.action_state.ActionState
Event	_action_done_event = Event()
	Event used to wait for action completion.
Any	_action_result = None
	The result returned by the action server.
GoalStatus	_action_status = None
	The status of the action execution.
ClientGoalHandle	_goal_handle = None
	Handle for the goal sent to the action server.
RLock	_goal_handle_lock = RLock()
	Lock to manage access to the goal handle.
Callable[[Blackboard], Any]	_create_goal_handler = create_goal_handler
	Function that creates the goal to send.
Callable[[Blackboard, Any], str]	_result_handler = result_handler
	Function to handle the result from the action server.
Callable[[Blackboard, Any], None]	_feedback_handler = feedback_handler
	Function to handle feedback from the action server.
float	_timeout = timeout
	Timeout duration for waiting for the action server.
Node	_node = node
	The ROS 2 node instance used to communicate with the action server.
str	_action_name = action_name
	The name of the action to be performed.
ActionClient	_action_client
	The action client used to send goals.
	_goal_response_callback
	_get_result_callback = self._goal_handle.get_result_async()
Protected Attributes inherited from yasmin.state.State
Set	_outcomes = set()
	A set of valid outcomes for this state.
bool	_running = False
	A flag indicating whether the state is currently running.
bool	_canceled = False
	A flag indicating whether the state has been canceled.

Detailed Description

ActionState for navigating to a specified pose using ROS 2 Navigation.

Attributes:
    None

Methods:
    create_goal_handler(blackboard: Blackboard) -> NavigateToPose.Goal:
        Creates the navigation goal from the blackboard.

Constructor & Destructor Documentation

__init__()

None yasmin_demos.nav_demo.Nav2State.__init__

(

self

)

Initializes the Nav2State.

Calls the parent constructor to set up the action with:
- Action type: NavigateToPose
- Action name: /navigate_to_pose
- Callback for goal creation: create_goal_handler
- Outcomes: None, since it will use default outcomes (SUCCEED, ABORT, CANCEL)

Member Function Documentation

create_goal_handler()

NavigateToPose.Goal yasmin_demos.nav_demo.Nav2State.create_goal_handler	(		self,
		Blackboard	blackboard )

Creates a goal for navigation based on the current pose in the blackboard.

Args:
    blackboard (Blackboard): The blackboard instance holding current state data.

Returns:
    NavigateToPose.Goal: The constructed goal for the navigation action.

Member Data Documentation

create_goal_handler

yasmin_demos.nav_demo.Nav2State.create_goal_handler

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

• yasmin_demos/yasmin_demos/nav_demo.py