controller_error_plugins.hpp

// Copyright (c) 2022 Joshua Wallace
//
// 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 ERROR_CODES__CONTROLLER__CONTROLLER_ERROR_PLUGINS_HPP_
#define ERROR_CODES__CONTROLLER__CONTROLLER_ERROR_PLUGINS_HPP_
 
#include <memory>
#include <string>
 
#include "nav2_core/controller.hpp"
#include "nav2_core/controller_exceptions.hpp"
 
namespace nav2_system_tests
{
 
class UnknownErrorController : public nav2_core::Controller
{
public:
  UnknownErrorController() = default;
  ~UnknownErrorController() = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
    std::string, std::shared_ptr<tf2_ros::Buffer>,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS>) override {}
 
  void cleanup() {}
 
  void activate() {}
 
  void deactivate() {}
 
  void setPlan(const nav_msgs::msg::Path &) {}
 
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped &,
    const geometry_msgs::msg::Twist &,
    nav2_core::GoalChecker *)
  {
    throw nav2_core::ControllerException("Unknown Error");
  }
 
  void setSpeedLimit(const double &, const bool &) {}
};
 
class TFErrorController : public UnknownErrorController
{
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped &,
    const geometry_msgs::msg::Twist &,
    nav2_core::GoalChecker *)
  {
    throw nav2_core::ControllerTFError("TF error");
  }
};
 
class FailedToMakeProgressErrorController : public UnknownErrorController
{
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped &,
    const geometry_msgs::msg::Twist &,
    nav2_core::GoalChecker *)
  {
    throw nav2_core::FailedToMakeProgress("Failed to make progress");
  }
};
 
class PatienceExceededErrorController : public UnknownErrorController
{
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped &,
    const geometry_msgs::msg::Twist &,
    nav2_core::GoalChecker *)
  {
    throw nav2_core::PatienceExceeded("Patience exceeded");
  }
};
 
class InvalidPathErrorController : public UnknownErrorController
{
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped &,
    const geometry_msgs::msg::Twist &,
    nav2_core::GoalChecker *)
  {
    throw nav2_core::InvalidPath("Invalid path");
  }
};
 
class NoValidControlErrorController : public UnknownErrorController
{
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped &,
    const geometry_msgs::msg::Twist &,
    nav2_core::GoalChecker *)
  {
    throw nav2_core::NoValidControl("No valid control");
  }
};
 
}  // namespace nav2_system_tests
 
#endif  // ERROR_CODES__CONTROLLER__CONTROLLER_ERROR_PLUGINS_HPP_