yasmin_demos.nav_demo Namespace Reference

Classes
class	Nav2State

Functions
str	create_waypoints (Blackboard blackboard)
str	take_random_waypoint (Blackboard blackboard)
str	get_next_waypoint (Blackboard blackboard)
None	main ()

Variables
str	HAS_NEXT = "has_next"
	Indicates there are more waypoints.
str	END = "end"
	Indicates no more waypoints.

Function Documentation

create_waypoints()

str yasmin_demos.nav_demo.create_waypoints

(

Blackboard

blackboard

)

Initializes waypoints in the blackboard for navigation.

Args:
    blackboard (Blackboard): The blackboard instance to store waypoints.

Returns:
    str: Outcome indicating success (SUCCEED).

get_next_waypoint()

str yasmin_demos.nav_demo.get_next_waypoint

(

Blackboard

blackboard

)

Retrieves the next waypoint from the list of random waypoints.

Updates the blackboard with the pose of the next waypoint.

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

Returns:
    str: Outcome indicating whether there is a next waypoint (HAS_NEXT) or if
         navigation is complete (END).

main()

None yasmin_demos.nav_demo.main

(

)

Initializes the ROS 2 node, sets up state machines for navigation, and executes the FSM.

Handles cleanup and shutdown of the ROS 2 node upon completion.

take_random_waypoint()

str yasmin_demos.nav_demo.take_random_waypoint

(

Blackboard

blackboard

)

Selects a random set of waypoints from the available waypoints.

Args:
    blackboard (Blackboard): The blackboard instance to store random waypoints.

Returns:
    str: Outcome indicating success (SUCCEED).

Variable Documentation

END

str yasmin_demos.nav_demo.END = "end"

Indicates no more waypoints.

HAS_NEXT

str yasmin_demos.nav_demo.HAS_NEXT = "has_next"

Indicates there are more waypoints.