bt_navigator.hpp

// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2023 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_BT_NAVIGATOR__BT_NAVIGATOR_HPP_
#define NAV2_BT_NAVIGATOR__BT_NAVIGATOR_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "tf2_ros/create_timer_ros.h"
#include "nav2_core/behavior_tree_navigator.hpp"
#include "pluginlib/class_loader.hpp"
 
namespace nav2_bt_navigator
{
 
class BtNavigator : public nav2_util::LifecycleNode
{
public:
  explicit BtNavigator(rclcpp::NodeOptions options = rclcpp::NodeOptions());
  ~BtNavigator();
 
protected:
  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;
 
  // To handle all the BT related execution
  pluginlib::ClassLoader<nav2_core::NavigatorBase> class_loader_;
  std::vector<pluginlib::UniquePtr<nav2_core::NavigatorBase>> navigators_;
  nav2_core::NavigatorMuxer plugin_muxer_;
 
  // Odometry smoother object
  std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_;
 
  // Metrics for feedback
  std::string robot_frame_;
  std::string global_frame_;
  double transform_tolerance_;
  double filter_duration_;
  std::string odom_topic_;
 
  // Spinning transform that can be used by the node
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
};
 
}  // namespace nav2_bt_navigator
 
#endif  // NAV2_BT_NAVIGATOR__BT_NAVIGATOR_HPP_