path_handler.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
// Copyright (c) 2023 Dexory
// Copyright (c) 2023 Open Navigation LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_MPPI_CONTROLLER__TOOLS__PATH_HANDLER_HPP_
#define NAV2_MPPI_CONTROLLER__TOOLS__PATH_HANDLER_HPP_
 
#include <vector>
#include <utility>
#include <string>
#include <memory>
 
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "tf2_ros/buffer.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "builtin_interfaces/msg/time.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_util/geometry_utils.hpp"
 
#include "nav2_mppi_controller/tools/parameters_handler.hpp"
 
namespace mppi
{
 
using PathIterator = std::vector<geometry_msgs::msg::PoseStamped>::iterator;
using PathRange = std::pair<PathIterator, PathIterator>;
 
class PathHandler
{
public:
  PathHandler() = default;
 
  ~PathHandler() = default;
 
  void initialize(
    rclcpp_lifecycle::LifecycleNode::WeakPtr parent, const std::string & name,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS>,
    std::shared_ptr<tf2_ros::Buffer>, ParametersHandler *);
 
  void setPath(const nav_msgs::msg::Path & plan);
 
  nav_msgs::msg::Path & getPath();
 
  nav_msgs::msg::Path transformPath(const geometry_msgs::msg::PoseStamped & robot_pose);
 
  geometry_msgs::msg::PoseStamped getTransformedGoal(const builtin_interfaces::msg::Time & stamp);
 
protected:
  bool transformPose(
    const std::string & frame, const geometry_msgs::msg::PoseStamped & in_pose,
    geometry_msgs::msg::PoseStamped & out_pose) const;
 
  double getMaxCostmapDist();
 
  geometry_msgs::msg::PoseStamped
  transformToGlobalPlanFrame(const geometry_msgs::msg::PoseStamped & pose);
 
  std::pair<nav_msgs::msg::Path, PathIterator> getGlobalPlanConsideringBoundsInCostmapFrame(
    const geometry_msgs::msg::PoseStamped & global_pose);
 
  void prunePlan(nav_msgs::msg::Path & plan, const PathIterator end);
 
  bool isWithinInversionTolerances(const geometry_msgs::msg::PoseStamped & robot_pose);
 
  std::string name_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  ParametersHandler * parameters_handler_;
 
  nav_msgs::msg::Path global_plan_;
  nav_msgs::msg::Path global_plan_up_to_inversion_;
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
 
  double max_robot_pose_search_dist_{0};
  double prune_distance_{0};
  double transform_tolerance_{0};
  float inversion_xy_tolerance_{0.2};
  float inversion_yaw_tolerance{0.4};
  bool enforce_path_inversion_{false};
  unsigned int inversion_locale_{0u};
};
}  // namespace mppi
 
#endif  // NAV2_MPPI_CONTROLLER__TOOLS__PATH_HANDLER_HPP_