PipelineFollowerLC

class suave.follow_pipeline_lc.PipelineFollowerLC(node_name, **kwargs)

Lifecycle node that follows a detected pipeline path.

__init__(node_name, **kwargs)

Create the pipeline follower node.

calc_distance(pose1: PoseStamped, pose2: PoseStamped) → float

Return Euclidean XY distance between two stamped poses.

follow_pipeline() → None

Follow the pipeline path (legacy lifecycle-activation mode).

on_activate(state: LifecycleState) → TransitionCallbackReturnType

Start pipeline following unless action server mode is on.

on_cleanup(state: LifecycleState) → TransitionCallbackReturnType

Clean up the node.

on_configure(state: LifecycleState) → TransitionCallbackReturnType

Create configured publishers, clients, and the action server.

on_deactivate(state: LifecycleState) → TransitionCallbackReturnType

Deactivate the node and stop pipeline following.

on_shutdown(state: LifecycleState) → TransitionCallbackReturnType

Shut down the node.

Methods

__init__(node_name, **kwargs)	Create the pipeline follower node.
calc_distance(pose1, pose2)	Return Euclidean XY distance between two stamped poses.
follow_pipeline()	Follow the pipeline path (legacy lifecycle-activation mode).
on_activate(state)	Start pipeline following unless action server mode is on.
on_cleanup(state)	Clean up the node.
on_configure(state)	Create configured publishers, clients, and the action server.
on_deactivate(state)	Deactivate the node and stop pipeline following.
on_shutdown(state)	Shut down the node.

Attributes