Nav2 Navigation Stack - humble  humble
ROS 2 Navigation Stack
kinematic_parameters.hpp
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34 
35 #ifndef DWB_PLUGINS__KINEMATIC_PARAMETERS_HPP_
36 #define DWB_PLUGINS__KINEMATIC_PARAMETERS_HPP_
37 
38 #include <memory>
39 #include <string>
40 #include <vector>
41 
42 #include "rclcpp/rclcpp.hpp"
43 #include "nav2_util/lifecycle_node.hpp"
44 
45 namespace dwb_plugins
46 {
47 
52 struct KinematicParameters
53 {
54  friend class KinematicsHandler;
55 
56  inline double getMinX() {return min_vel_x_;}
57  inline double getMaxX() {return max_vel_x_;}
58  inline double getAccX() {return acc_lim_x_;}
59  inline double getDecelX() {return decel_lim_x_;}
60 
61  inline double getMinY() {return min_vel_y_;}
62  inline double getMaxY() {return max_vel_y_;}
63  inline double getAccY() {return acc_lim_y_;}
64  inline double getDecelY() {return decel_lim_y_;}
65 
66  inline double getMinSpeedXY() {return min_speed_xy_;}
67  inline double getMaxSpeedXY() {return max_speed_xy_;}
68 
69  inline double getMinTheta() {return -max_vel_theta_;}
70  inline double getMaxTheta() {return max_vel_theta_;}
71  inline double getAccTheta() {return acc_lim_theta_;}
72  inline double getDecelTheta() {return decel_lim_theta_;}
73  inline double getMinSpeedTheta() {return min_speed_theta_;}
74 
75  inline double getMinSpeedXY_SQ() {return min_speed_xy_sq_;}
76  inline double getMaxSpeedXY_SQ() {return max_speed_xy_sq_;}
77 
78 protected:
79  // For parameter descriptions, see cfg/KinematicParams.cfg
80  double min_vel_x_{0};
81  double min_vel_y_{0};
82  double max_vel_x_{0};
83  double max_vel_y_{0};
84  double base_max_vel_x_{0};
85  double base_max_vel_y_{0};
86  double max_vel_theta_{0};
87  double base_max_vel_theta_{0};
88  double min_speed_xy_{0};
89  double max_speed_xy_{0};
90  double base_max_speed_xy_{0};
91  double min_speed_theta_{0};
92  double acc_lim_x_{0};
93  double acc_lim_y_{0};
94  double acc_lim_theta_{0};
95  double decel_lim_x_{0};
96  double decel_lim_y_{0};
97  double decel_lim_theta_{0};
98 
99  // Cached square values of min_speed_xy and max_speed_xy
100  double min_speed_xy_sq_{0};
101  double max_speed_xy_sq_{0};
102 };
103 
108 class KinematicsHandler
109 {
110 public:
111  KinematicsHandler();
112  ~KinematicsHandler();
113  void initialize(const nav2_util::LifecycleNode::SharedPtr & nh, const std::string & plugin_name);
114 
115  inline KinematicParameters getKinematics() {return *kinematics_.load();}
116 
117  void setSpeedLimit(const double & speed_limit, const bool & percentage);
118 
119  using Ptr = std::shared_ptr<KinematicsHandler>;
120 
121 protected:
122  std::atomic<KinematicParameters *> kinematics_;
123 
124  // Dynamic parameters handler
125  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
130  rcl_interfaces::msg::SetParametersResult
131  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
132  void update_kinematics(KinematicParameters kinematics);
133  std::string plugin_name_;
134 };
135 
136 } // namespace dwb_plugins
137 
138 #endif // DWB_PLUGINS__KINEMATIC_PARAMETERS_HPP_
dwb_plugins::KinematicsHandler
A class managing the representation of the robot's kinematics.
Definition: kinematic_parameters.hpp:109
dwb_plugins::KinematicsHandler::dynamicParametersCallback
rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(std::vector< rclcpp::Parameter > parameters)
Callback executed when a paramter change is detected.
Definition: kinematic_parameters.cpp:168
dwb_plugins::KinematicParameters
A struct containing one representation of the robot's kinematics.
Definition: kinematic_parameters.hpp:53
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