goal_updater_node.cpp

// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2020 Francisco Martin Rico
//
// 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 <string>
#include <memory>
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "behaviortree_cpp/decorator_node.h"
 
#include "nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp"
 
#include "rclcpp/rclcpp.hpp"
 
namespace nav2_behavior_tree
{
 
using std::placeholders::_1;
 
GoalUpdater::GoalUpdater(
  const std::string & name,
  const BT::NodeConfiguration & conf)
: BT::DecoratorNode(name, conf)
{
  node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
  callback_group_ = node_->create_callback_group(
    rclcpp::CallbackGroupType::MutuallyExclusive,
    false);
  callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
 
  std::string goal_updater_topic;
  node_->get_parameter_or<std::string>("goal_updater_topic", goal_updater_topic, "goal_update");
 
  rclcpp::SubscriptionOptions sub_option;
  sub_option.callback_group = callback_group_;
  goal_sub_ = node_->create_subscription<geometry_msgs::msg::PoseStamped>(
    goal_updater_topic,
    rclcpp::SystemDefaultsQoS(),
    std::bind(&GoalUpdater::callback_updated_goal, this, _1),
    sub_option);
 
  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
}
 
inline BT::NodeStatus GoalUpdater::tick()
{
  geometry_msgs::msg::PoseStamped goal;
 
  getInput("input_goal", goal);
 
  callback_group_executor_.spin_all(std::chrono::milliseconds(49));
 
  if (last_goal_received_.header.stamp != rclcpp::Time(0)) {
    auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp);
    auto goal_time = rclcpp::Time(goal.header.stamp);
    if (last_goal_received_time > goal_time) {
      goal = last_goal_received_;
    } else {
      RCLCPP_WARN(
        node_->get_logger(), "The timestamp of the received goal (%f) is older than the "
        "current goal (%f). Ignoring the received goal.",
        last_goal_received_time.seconds(), goal_time.seconds());
    }
  }
 
  setOutput("output_goal", goal);
  return child_node_->executeTick();
}
 
void
GoalUpdater::callback_updated_goal(const geometry_msgs::msg::PoseStamped::SharedPtr msg)
{
  last_goal_received_ = *msg;
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  factory.registerNodeType<nav2_behavior_tree::GoalUpdater>("GoalUpdater");
}