dummy_planner.cpp

// Copyright (c) 2018 Intel Corporation
//
// 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.
 
#include <chrono>
#include <thread>
#include <memory>
 
#include "dummy_planner.hpp"
 
using namespace std::chrono_literals;
 
namespace nav2_system_tests
{
 
DummyPlanner::DummyPlanner()
: Node("DummyPlanner")
{
  RCLCPP_INFO(get_logger(), "Initializing DummyPlanner...");
 
  auto temp_node = std::shared_ptr<rclcpp::Node>(this, [](auto) {});
 
  task_server_ =
    std::make_unique<nav2_behavior_tree::ComputePathToPoseTaskServer>(temp_node, false),
  task_server_->setExecuteCallback(
    std::bind(&DummyPlanner::computePlan, this, std::placeholders::_1));
 
  // Start listening for incoming ComputePathToPose task requests
  task_server_->start();
 
  RCLCPP_INFO(get_logger(), "Initialized DummyPlanner");
}
 
DummyPlanner::~DummyPlanner()
{
  RCLCPP_INFO(get_logger(), "Shutting down DummyPlanner");
}
 
void
DummyPlanner::computePlan(const nav2_behavior_tree::ComputePathToPoseCommand::SharedPtr cmd)
{
  RCLCPP_INFO(
    get_logger(), "Attempting to a find path from (%.2f, %.2f) to "
    "(%.2f, %.2f).", cmd->start.position.x, cmd->start.position.y,
    cmd->goal.position.x, cmd->goal.position.y);
 
  // Dummy path computation time
  std::this_thread::sleep_for(500ms);
 
  if (task_server_->cancelRequested()) {
    RCLCPP_INFO(get_logger(), "Cancelled planning task.");
    task_server_->setCanceled();
    return;
  }
 
  RCLCPP_INFO(get_logger(), "Found a dummy path");
 
  nav2_behavior_tree::ComputePathToPoseResult result;
  // set succeeded
  task_server_->setResult(result);
}
 
}  // namespace nav2_system_tests