Navigator package

Some description.

API Reference

Navigator node for the multi mobile robot system.

Navigates single robot. Asks controller whether a robot can move forward, or it should wait for another robot.

exception mmrs_navigator.navigator.NavigationError

Base class for navigation errors.

exception mmrs_navigator.navigator.NavigationRejectionError

Error for rejected navigation.

class mmrs_navigator.navigator.Navigator(node_name: str = 'navigator', namespace: str = '')

Navigator node for the multi mobile robot system.

_ask_for_permission_async(previous_id: UUID, current_id: UUID, *, first: bool = False) → Future

Ask for permission to enter next segment.

Parameters:

• prevoius_id – The ID of the previous segment.

• current_id – The ID of the current segment.

• first – Whether this is the first segment.

Returns:

The future of the service call.

_ask_for_permission_sync(previous_id: UUID, current_id: UUID, *, first: bool = False) → bool

Ask for permission to enter next segment.

Parameters:

• namespace – The namespace of the robot.

• previous_id – The ID of the previous segment.

• current_id – The ID of the current segment.

Returns:

True if permission is granted, False if not.

_extract_initial_pose_from_params() → PoseStamped

Extract initial pose from parameters.

Returns:

The initial pose.

_navigate_single_segment(goal_handle: ServerGoalHandle, segment: PathSegment) → int

Navigate robot through a single segment.

Parameters:

• goal_handle – The goal handle for the navigate action.

• segment – The segment to navigate through.

Returns:

The result of the navigation.

_release_resources_async(segment: PathSegment) → Future

Release resources after navigating through a segment.

Parameters:

segment – The segment that was navigated through.

_release_resources_sync(segment: PathSegment) → None

Release resources after navigating through a segment.

Parameters:

segment – The segment that was navigated through.

_wait_for_permission(previous_id: UUID, current_id: UUID) → None

Wait for permission to enter next segment.

Parameters:

• previous_id – ID of the previous segment.

• current_id – ID of the current segment.

calculate_path_through_poses_callback(request: CalculatePathThroughPoses_Request, response: CalculatePathThroughPoses_Response) → CalculatePathThroughPoses_Response

Calculate a path through poses’ callback.

Parameters:

• request – The request to calculate a path through poses.

• response – The response of the service.

Returns:

The response of the service.

calculate_path_to_pose_callback(request: CalculatePath_Request, response: CalculatePath_Response) → CalculatePath_Response

Calculate a path to a pose’s callback.

Parameters:

• request – The request to calculate a path to a pose.

• response – The response of the service.

Returns:

The response of the service.

interpolate_and_smooth_path(path: Path, *, interpolation_distance: float) → Path

Interpolate and smooth path orientations.

Parameters:

• path – The path to be interpolated and smoothed.

• interpolation_distance – The maximum distance between points.

Returns:

The interpolated and smoothed path.

navigate_cancel_callback(goal_handle: ServerGoalHandle) → CancelResponse

Navigate through poses’ cancel callback.

Parameters:

goal_handle – The goal handle to cancel.

Returns:

The response to the cancel request.

navigate_execute_callback(goal_handle: ServerGoalHandle) → Navigate_Result

The execute callback for the navigate action.

Parameters:

goal_handle – The goal handle for the navigate action.

Returns:

The result of the navigate action.

navigate_goal_callback(goal: Navigate_Goal) → GoalResponse

Navigate through poses’ goal callback.

Always accepts the goal.

Parameters:

goal – The goal handle to accept or reject.

Returns:

The response to the goal.

publish_alive() → None

Publish alive message.

register_in_controller(metadata: RobotMetadata) → None

Register robot in centralized controller.

Parameters:

• namespace – The namespace of the robot.

• metadata – The metadata of the robot.

update_position(msg: PoseWithCovarianceStamped) → None

Update the robot position. :param msg: The message with the pose.

mmrs_navigator.navigator.main(args: list[str] | None = None) → None

Run navigator node.

Path transformations module.

mmrs_navigator.path_transformations.calculate_orientation_to_next_point(current_point: Point, next_point: Point) → Quaternion

Calculate the orientation of the current point to the next point.

Parameters:

• current_point – The current point.

• next_point – The next point.

Returns:

The orientation of the current point to the next point.

mmrs_navigator.path_transformations.interpolate_path(path: Path, interpolation_distance: float) → Path

Interpolate the path to increase poses density.

Parameters:

• path – The path to interpolate.

• interpolation_distance – The maximum distance between poses.

Returns:

The interpolated path.

mmrs_navigator.path_transformations.smooth_path_orientations(path: Path) → Path

Smooth the orientations of the path’s poses.

Iterates over the poses of the path and calculates the orientation to the next point, then updates the orientation of the current pose.

Parameters:

path – The path to smooth.

Returns:

The smoothed path.