SpiralSearcherLC

class suave.spiral_search_lc.SpiralSearcherLC(node_name, **kwargs)

Lifecycle node that executes an expanding spiral search pattern.

__init__(node_name, **kwargs)

Create the spiral searcher node.

on_activate(state: LifecycleState) → TransitionCallbackReturnType

Start spiral movement unless action server mode is on.

on_cleanup(state: LifecycleState) → TransitionCallbackReturnType

Clean up the node.

on_configure(state: LifecycleState) → TransitionCallbackReturnType

Create the controller, spiral timer, and action server.

on_deactivate(state: LifecycleState) → TransitionCallbackReturnType

Deactivate the node and stop spiral behavior.

on_shutdown(state: LifecycleState) → TransitionCallbackReturnType

Shut down the node.

param_change_callback(parameters)

Log parameter changes.

publish()

Publish the next spiral setpoint when the node is enabled.

Methods

__init__(node_name, **kwargs)	Create the spiral searcher node.
on_activate(state)	Start spiral movement unless action server mode is on.
on_cleanup(state)	Clean up the node.
on_configure(state)	Create the controller, spiral timer, and action server.
on_deactivate(state)	Deactivate the node and stop spiral behavior.
on_shutdown(state)	Shut down the node.
param_change_callback(parameters)	Log parameter changes.
publish()	Publish the next spiral setpoint when the node is enabled.

Attributes