path_handler.hpp

// Copyright (c) 2022 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__PATH_HANDLER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__PATH_HANDLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_core/controller_exceptions.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
 
namespace nav2_regulated_pure_pursuit_controller
{
 
class PathHandler
{
public:
  PathHandler(
    tf2::Duration transform_tolerance,
    std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros);
 
  ~PathHandler() = default;
 
  nav_msgs::msg::Path transformGlobalPlan(
    const geometry_msgs::msg::PoseStamped & pose,
    double max_robot_pose_search_dist, bool reject_unit_path = false);
 
  bool transformPose(
    const std::string frame,
    const geometry_msgs::msg::PoseStamped & in_pose,
    geometry_msgs::msg::PoseStamped & out_pose) const;
 
  void setPlan(const nav_msgs::msg::Path & path) {global_plan_ = path;}
 
  nav_msgs::msg::Path getPlan() {return global_plan_;}
 
protected:
  double getCostmapMaxExtent() const;
 
  rclcpp::Logger logger_ {rclcpp::get_logger("RPPPathHandler")};
  tf2::Duration transform_tolerance_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav_msgs::msg::Path global_plan_;
};
 
}  // namespace nav2_regulated_pure_pursuit_controller
 
#endif  // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__PATH_HANDLER_HPP_