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Merged
SteveMacenski merged 3 commits into from
Mar 1, 2022
Merged

Add docs for commander API #283

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e677ac2
added docs
Mar 1, 2022
f74d728
Merge branch 'docs'
Mar 1, 2022
ba4808b
fix
Mar 1, 2022
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28 changes: 15 additions & 13 deletions commander_api/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -55,21 +55,22 @@ If a server fails, it may throw an exception or return a `None` object, so pleas
+=======================================+============================================================================+
| setInitialPose(initial_pose) | Sets the initial pose (``PoseStamped``) of the robot to localization. |
+---------------------------------------+----------------------------------------------------------------------------+
| goThroughPoses(poses) | Requests the robot to drive through a set of poses |
| | (list of ``PoseStamped``). |
| goThroughPoses(poses, | Requests the robot to drive through a set of poses |
| behavior_tree='') | (list of ``PoseStamped``). |
+---------------------------------------+----------------------------------------------------------------------------+
| goToPose(pose) | Requests the robot to drive to a pose (``PoseStamped``). |
| goToPose(pose, behavior_tree='') | Requests the robot to drive to a pose (``PoseStamped``). |
+---------------------------------------+----------------------------------------------------------------------------+
| followWaypoints(poses) | Requests the robot to follow a set of waypoints (list of ``PoseStamped``). |
| | This will execute the chosen ``TaskExecutor`` plugin at each pose. |
+---------------------------------------+----------------------------------------------------------------------------+
| followPath(path) | Requests the robot to follow a path from a starting to a goal |
| | ``PoseStamped``, ``nav_msgs/Path``. |
| followPath(path, controller_id='', | Requests the robot to follow a path from a starting to a goal |
| goal_checker_id='') | ``PoseStamped``, ``nav_msgs/Path``. |
+---------------------------------------+----------------------------------------------------------------------------+
| spin(spin_dist, time_allowance) | Requests the robot to performs an in-place rotation by a given angle. |
| spin(spin_dist=1.57, | Requests the robot to performs an in-place rotation by a given angle. |
| time_allowance=10) | |
+---------------------------------------+----------------------------------------------------------------------------+
| backup(backup_dist, | Requests the robot to back up by a given distance. |
| backup_speed, time_allowance) | |
| backup(backup_dist=0.15, | Requests the robot to back up by a given distance. |
| backup_speed=0.025, time_allowance=10)| |
+---------------------------------------+----------------------------------------------------------------------------+
| cancelTask() | Cancel an ongoing task. |
+---------------------------------------+----------------------------------------------------------------------------+
Expand All @@ -81,10 +82,11 @@ If a server fails, it may throw an exception or return a `None` object, so pleas
| getResult() | Gets final result of task, to be called after ``isTaskComplete`` |
| | returns ``True``. Returns action server result msg. |
+---------------------------------------+----------------------------------------------------------------------------+
| getPath(start, goal, planner_id=None) | Gets a path from a starting to a goal ``PoseStamped``, ``nav_msgs/Path``. |
| getPath(start, goal, | Gets a path from a starting to a goal ``PoseStamped``, ``nav_msgs/Path``. |
| planner_id='', use_start=False) | |
+---------------------------------------+----------------------------------------------------------------------------+
| getPathThroughPoses(start, goals) | Gets a path through a starting to a set of goals, a list |
| | of ``PoseStamped``, ``nav_msgs/Path``. |
| getPathThroughPoses(start, goals, | Gets a path through a starting to a set of goals, a list |
| planner_id='', use_start=False) | of ``PoseStamped``, ``nav_msgs/Path``. |
+---------------------------------------+----------------------------------------------------------------------------+
| changeMap(map_filepath) | Requests a change from the current map to `map_filepath`'s yaml. |
+---------------------------------------+----------------------------------------------------------------------------+
Expand All @@ -99,8 +101,8 @@ If a server fails, it may throw an exception or return a `None` object, so pleas
| getLocalCostmap() | Returns the local costmap, ``nav2_msgs/Costmap``. |
+---------------------------------------+----------------------------------------------------------------------------+
| waitUntilNav2Active( | Blocks until Nav2 is completely online and lifecycle nodes are in the |
| navigator='bt_navigator', | active state. To be used in conjunction with autostart or external |
| localizer='amcl') | lifecycle bringup. Custom navigator and localizer nodes can be specified |
| navigator='bt_navigator', | active state. To be used in conjunction with autostart or external |
| localizer='amcl') | lifecycle bringup. Custom navigator and localizer nodes can be specified |
+---------------------------------------+----------------------------------------------------------------------------+
| lifecycleStartup() | Sends a request to all lifecycle management servers to bring them into |
| | the active state, to be used if autostart is ``False`` and you want this |
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