costmap_2d_ros.hpp

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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
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#ifndef NAV2_COSTMAP_2D__COSTMAP_2D_ROS_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_2D_ROS_HPP_
 
#include <atomic>
#include <memory>
#include <string>
#include <vector>
 
#include "geometry_msgs/msg/polygon.h"
#include "geometry_msgs/msg/polygon_stamped.h"
#include "nav2_costmap_2d/costmap_2d_publisher.hpp"
#include "nav2_costmap_2d/footprint.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/clear_costmap_service.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav2_costmap_2d/layer.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_msgs/srv/get_cost.hpp"
#include "pluginlib/class_loader.hpp"
#include "tf2/convert.h"
#include "tf2/LinearMath/Transform.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "tf2/time.h"
#include "tf2/transform_datatypes.h"
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#include "tf2/utils.h"
#pragma GCC diagnostic pop
 
namespace nav2_costmap_2d
{
 
class Costmap2DROS : public nav2_util::LifecycleNode
{
public:
  explicit Costmap2DROS(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  explicit Costmap2DROS(const std::string & name, const bool & use_sim_time = false);
 
  explicit Costmap2DROS(
    const std::string & name,
    const std::string & parent_namespace,
    const std::string & local_namespace,
    const bool & use_sim_time);
 
  void init();
 
  ~Costmap2DROS();
 
  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
 
  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
 
  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
 
  nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
 
  nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
  void on_rcl_preshutdown() override
  {
    if (is_lifecycle_follower_) {
      // Transitioning handled by parent node
      return;
    }
 
    // Else, if this is an independent node, this node needs to handle itself.
    RCLCPP_INFO(
      get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)",
      this->get_name());
 
    runCleanups();
 
    destroyBond();
  }
 
  void start();
 
  void stop();
 
  void pause();
 
  void resume();
 
  void updateMap();
 
  void resetLayers();
 
  bool isCurrent()
  {
    return layered_costmap_->isCurrent();
  }
 
  bool getRobotPose(geometry_msgs::msg::PoseStamped & global_pose);
 
  bool transformPoseToGlobalFrame(
    const geometry_msgs::msg::PoseStamped & input_pose,
    geometry_msgs::msg::PoseStamped & transformed_pose);
 
  std::string getName() const
  {
    return name_;
  }
 
  double getTransformTolerance() const
  {
    return transform_tolerance_;
  }
 
  Costmap2D * getCostmap()
  {
    return layered_costmap_->getCostmap();
  }
 
  std::string getGlobalFrameID()
  {
    return global_frame_;
  }
 
  std::string getBaseFrameID()
  {
    return robot_base_frame_;
  }
 
  LayeredCostmap * getLayeredCostmap()
  {
    return layered_costmap_.get();
  }
 
  geometry_msgs::msg::Polygon getRobotFootprintPolygon()
  {
    return nav2_costmap_2d::toPolygon(padded_footprint_);
  }
 
  std::vector<geometry_msgs::msg::Point> getRobotFootprint()
  {
    return padded_footprint_;
  }
 
  std::vector<geometry_msgs::msg::Point> getUnpaddedRobotFootprint()
  {
    return unpadded_footprint_;
  }
 
  void getOrientedFootprint(std::vector<geometry_msgs::msg::Point> & oriented_footprint);
 
  void setRobotFootprint(const std::vector<geometry_msgs::msg::Point> & points);
 
  void setRobotFootprintPolygon(const geometry_msgs::msg::Polygon::SharedPtr footprint);
 
  std::shared_ptr<tf2_ros::Buffer> getTfBuffer() {return tf_buffer_;}
 
  bool getUseRadius() {return use_radius_;}
 
  double getRobotRadius() {return robot_radius_;}
 
  void getCostCallback(
    const std::shared_ptr<rmw_request_id_t>,
    const std::shared_ptr<nav2_msgs::srv::GetCost::Request> request,
    const std::shared_ptr<nav2_msgs::srv::GetCost::Response> response);
 
protected:
  // Publishers and subscribers
  rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr
    footprint_pub_;
  std::unique_ptr<Costmap2DPublisher> costmap_publisher_;
 
  std::vector<std::unique_ptr<Costmap2DPublisher>> layer_publishers_;
 
  rclcpp::Subscription<geometry_msgs::msg::Polygon>::SharedPtr footprint_sub_;
  rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_sub_;
 
  // Dedicated callback group and executor for tf timer_interface and message fillter
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
  std::unique_ptr<nav2_util::NodeThread> executor_thread_;
 
  // Transform listener
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
  std::unique_ptr<LayeredCostmap> layered_costmap_{nullptr};
  std::string name_;
  std::string parent_namespace_;
 
  void mapUpdateLoop(double frequency);
  bool map_update_thread_shutdown_{false};
  std::atomic<bool> stop_updates_{false};
  std::atomic<bool> initialized_{false};
  std::atomic<bool> stopped_{true};
  std::mutex _dynamic_parameter_mutex;
  std::unique_ptr<std::thread> map_update_thread_;  
  rclcpp::Time last_publish_{0, 0, RCL_ROS_TIME};
  rclcpp::Duration publish_cycle_{1, 0};
  pluginlib::ClassLoader<Layer> plugin_loader_{"nav2_costmap_2d", "nav2_costmap_2d::Layer"};
 
  void getParameters();
  bool always_send_full_costmap_{false};
  std::string footprint_;
  float footprint_padding_{0};
  std::string global_frame_;                
  int map_height_meters_{0};
  double map_publish_frequency_{0};
  double map_update_frequency_{0};
  int map_width_meters_{0};
  double origin_x_{0};
  double origin_y_{0};
  std::vector<std::string> default_plugins_;
  std::vector<std::string> default_types_;
  std::vector<std::string> plugin_names_;
  std::vector<std::string> plugin_types_;
  std::vector<std::string> filter_names_;
  std::vector<std::string> filter_types_;
  double resolution_{0};
  std::string robot_base_frame_;            
  double robot_radius_;
  bool rolling_window_{false};          
  bool track_unknown_space_{false};
  double transform_tolerance_{0};           
  double initial_transform_timeout_{0};   
  double map_vis_z_{0};                 
 
  bool is_lifecycle_follower_{true};   
 
  // Derived parameters
  bool use_radius_{false};
  std::vector<geometry_msgs::msg::Point> unpadded_footprint_;
  std::vector<geometry_msgs::msg::Point> padded_footprint_;
 
  // Services
  rclcpp::Service<nav2_msgs::srv::GetCost>::SharedPtr get_cost_service_;
  std::unique_ptr<ClearCostmapService> clear_costmap_service_;
 
  // Dynamic parameters handler
  OnSetParametersCallbackHandle::SharedPtr dyn_params_handler;
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_2D_ROS_HPP_