nav2_rotation_shim_controller.hpp

// Copyright (c) 2021 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_ROTATION_SHIM_CONTROLLER__NAV2_ROTATION_SHIM_CONTROLLER_HPP_
#define NAV2_ROTATION_SHIM_CONTROLLER__NAV2_ROTATION_SHIM_CONTROLLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
#include <limits>
 
#include "rclcpp/rclcpp.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_core/controller.hpp"
#include "nav2_core/controller_exceptions.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_controller/plugins/position_goal_checker.hpp"
#include "angles/angles.h"
 
namespace nav2_rotation_shim_controller
{
 
class RotationShimController : public nav2_core::Controller
{
public:
  RotationShimController();
 
  ~RotationShimController() override = default;
 
  void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity,
    nav2_core::GoalChecker * /*goal_checker*/) override;
 
  void setPlan(const nav_msgs::msg::Path & path) override;
 
  void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
 
  void reset() override;
 
protected:
  geometry_msgs::msg::PoseStamped getSampledPathPt();
 
  geometry_msgs::msg::PoseStamped getSampledPathGoal();
 
  geometry_msgs::msg::Pose transformPoseToBaseFrame(const geometry_msgs::msg::PoseStamped & pt);
 
  geometry_msgs::msg::TwistStamped computeRotateToHeadingCommand(
    const double & angular_distance,
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity);
 
  void isCollisionFree(
    const geometry_msgs::msg::TwistStamped & cmd_vel,
    const double & angular_distance_to_heading,
    const geometry_msgs::msg::PoseStamped & pose);
 
  bool isGoalChanged(const nav_msgs::msg::Path & path);
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::string plugin_name_;
  rclcpp::Logger logger_ {rclcpp::get_logger("RotationShimController")};
  rclcpp::Clock::SharedPtr clock_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
  collision_checker_;
 
  pluginlib::ClassLoader<nav2_core::Controller> lp_loader_;
  nav2_core::Controller::Ptr primary_controller_;
  bool path_updated_;
  nav_msgs::msg::Path current_path_;
  double forward_sampling_distance_, angular_dist_threshold_, angular_disengage_threshold_;
  double rotate_to_heading_angular_vel_, max_angular_accel_;
  double control_duration_, simulate_ahead_time_;
  bool rotate_to_goal_heading_, in_rotation_, rotate_to_heading_once_;
  bool closed_loop_;
  bool use_path_orientations_;
  double last_angular_vel_ = std::numeric_limits<double>::max();
 
  // Dynamic parameters handler
  std::mutex mutex_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
  std::unique_ptr<nav2_controller::PositionGoalChecker> position_goal_checker_;
};
 
}  // namespace nav2_rotation_shim_controller
 
#endif  // NAV2_ROTATION_SHIM_CONTROLLER__NAV2_ROTATION_SHIM_CONTROLLER_HPP_