regulated_pure_pursuit_controller.hpp

// Copyright (c) 2020 Shrijit Singh
// Copyright (c) 2020 Samsung Research America
//
// 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_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_core/controller.hpp"
#include "rclcpp/rclcpp.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
 
namespace nav2_regulated_pure_pursuit_controller
{
 
class RegulatedPurePursuitController : public nav2_core::Controller
{
public:
  RegulatedPurePursuitController() = default;
 
  ~RegulatedPurePursuitController() override = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity,
    nav2_core::GoalChecker * /*goal_checker*/) override;
 
  void setPlan(const nav_msgs::msg::Path & path) override;
 
  void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
 
protected:
  nav_msgs::msg::Path transformGlobalPlan(
    const geometry_msgs::msg::PoseStamped & pose);
 
  bool transformPose(
    const std::string frame,
    const geometry_msgs::msg::PoseStamped & in_pose,
    geometry_msgs::msg::PoseStamped & out_pose) const;
 
  double getLookAheadDistance(const geometry_msgs::msg::Twist &);
 
  std::unique_ptr<geometry_msgs::msg::PointStamped> createCarrotMsg(
    const geometry_msgs::msg::PoseStamped & carrot_pose);
 
  bool shouldRotateToPath(
    const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path);
 
  bool shouldRotateToGoalHeading(const geometry_msgs::msg::PoseStamped & carrot_pose);
 
  void rotateToHeading(
    double & linear_vel, double & angular_vel,
    const double & angle_to_path, const geometry_msgs::msg::Twist & curr_speed);
 
  bool isCollisionImminent(
    const geometry_msgs::msg::PoseStamped &,
    const double &, const double &,
    const double &);
 
  bool inCollision(
    const double & x,
    const double & y,
    const double & theta);
  double costAtPose(const double & x, const double & y);
 
  double approachVelocityScalingFactor(
    const nav_msgs::msg::Path & path
  ) const;
 
  void applyApproachVelocityScaling(
    const nav_msgs::msg::Path & path,
    double & linear_vel
  ) const;
 
  void applyConstraints(
    const double & curvature, const geometry_msgs::msg::Twist & speed,
    const double & pose_cost, const nav_msgs::msg::Path & path,
    double & linear_vel, double & sign);
 
  static geometry_msgs::msg::Point circleSegmentIntersection(
    const geometry_msgs::msg::Point & p1,
    const geometry_msgs::msg::Point & p2,
    double r);
 
  geometry_msgs::msg::PoseStamped getLookAheadPoint(const double &, const nav_msgs::msg::Path &);
 
  double findVelocitySignChange(const nav_msgs::msg::Path & transformed_plan);
 
  double getCostmapMaxExtent() const;
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::string plugin_name_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_;
  rclcpp::Logger logger_ {rclcpp::get_logger("RegulatedPurePursuitController")};
  rclcpp::Clock::SharedPtr clock_;
 
  double desired_linear_vel_, base_desired_linear_vel_;
  double lookahead_dist_;
  double rotate_to_heading_angular_vel_;
  double max_lookahead_dist_;
  double min_lookahead_dist_;
  double lookahead_time_;
  bool use_velocity_scaled_lookahead_dist_;
  tf2::Duration transform_tolerance_;
  double min_approach_linear_velocity_;
  double approach_velocity_scaling_dist_;
  double control_duration_;
  double max_allowed_time_to_collision_up_to_carrot_;
  bool use_collision_detection_;
  bool use_regulated_linear_velocity_scaling_;
  bool use_cost_regulated_linear_velocity_scaling_;
  double cost_scaling_dist_;
  double cost_scaling_gain_;
  double inflation_cost_scaling_factor_;
  double regulated_linear_scaling_min_radius_;
  double regulated_linear_scaling_min_speed_;
  bool use_rotate_to_heading_;
  double max_angular_accel_;
  double rotate_to_heading_min_angle_;
  double goal_dist_tol_;
  bool allow_reversing_;
  double max_robot_pose_search_dist_;
  bool use_interpolation_;
 
  nav_msgs::msg::Path global_plan_;
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> global_path_pub_;
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PointStamped>>
  carrot_pub_;
  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> carrot_arc_pub_;
  std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
  collision_checker_;
 
  // Dynamic parameters handler
  std::mutex mutex_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
};
 
}  // namespace nav2_regulated_pure_pursuit_controller
 
#endif  // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_