controller_server.hpp

// Copyright (c) 2019 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.
 
#ifndef NAV2_CONTROLLER__CONTROLLER_SERVER_HPP_
#define NAV2_CONTROLLER__CONTROLLER_SERVER_HPP_
 
#include <memory>
#include <string>
#include <thread>
#include <unordered_map>
#include <vector>
#include <mutex>
 
#include "nav2_core/controller.hpp"
#include "nav2_core/progress_checker.hpp"
#include "nav2_core/goal_checker.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "tf2_ros/transform_listener.h"
#include "nav2_msgs/action/follow_path.hpp"
#include "nav2_msgs/msg/speed_limit.hpp"
#include "nav_2d_utils/odom_subscriber.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/simple_action_server.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/twist_publisher.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
 
namespace nav2_controller
{
 
class ProgressChecker;
class ControllerServer : public nav2_util::LifecycleNode
{
public:
  using ControllerMap = std::unordered_map<std::string, nav2_core::Controller::Ptr>;
  using GoalCheckerMap = std::unordered_map<std::string, nav2_core::GoalChecker::Ptr>;
  using ProgressCheckerMap = std::unordered_map<std::string, nav2_core::ProgressChecker::Ptr>;
 
  explicit ControllerServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~ControllerServer();
 
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;
 
  using Action = nav2_msgs::action::FollowPath;
  using ActionServer = nav2_util::SimpleActionServer<Action>;
 
  // Our action server implements the FollowPath action
  std::unique_ptr<ActionServer> action_server_;
 
  void computeControl();
 
  bool findControllerId(const std::string & c_name, std::string & name);
 
  bool findGoalCheckerId(const std::string & c_name, std::string & name);
 
  bool findProgressCheckerId(const std::string & c_name, std::string & name);
 
  void setPlannerPath(const nav_msgs::msg::Path & path);
  void computeAndPublishVelocity();
  void updateGlobalPath();
  void publishVelocity(const geometry_msgs::msg::TwistStamped & velocity);
  void publishZeroVelocity();
  void onGoalExit(bool force_stop);
  bool isGoalReached();
  bool getRobotPose(geometry_msgs::msg::PoseStamped & pose);
 
  double getThresholdedVelocity(double velocity, double threshold)
  {
    return (std::abs(velocity) > threshold) ? velocity : 0.0;
  }
 
  nav_2d_msgs::msg::Twist2D getThresholdedTwist(const nav_2d_msgs::msg::Twist2D & twist)
  {
    nav_2d_msgs::msg::Twist2D twist_thresh;
    twist_thresh.x = getThresholdedVelocity(twist.x, min_x_velocity_threshold_);
    twist_thresh.y = getThresholdedVelocity(twist.y, min_y_velocity_threshold_);
    twist_thresh.theta = getThresholdedVelocity(twist.theta, min_theta_velocity_threshold_);
    return twist_thresh;
  }
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
  std::mutex dynamic_params_lock_;
 
  // The controller needs a costmap node
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::unique_ptr<nav2_util::NodeThread> costmap_thread_;
 
  // Publishers and subscribers
  std::unique_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
  std::unique_ptr<nav2_util::TwistPublisher> vel_publisher_;
  rclcpp::Subscription<nav2_msgs::msg::SpeedLimit>::SharedPtr speed_limit_sub_;
 
  // Progress Checker Plugin
  pluginlib::ClassLoader<nav2_core::ProgressChecker> progress_checker_loader_;
  ProgressCheckerMap progress_checkers_;
  std::vector<std::string> default_progress_checker_ids_;
  std::vector<std::string> default_progress_checker_types_;
  std::vector<std::string> progress_checker_ids_;
  std::vector<std::string> progress_checker_types_;
  std::string progress_checker_ids_concat_, current_progress_checker_;
 
  // Goal Checker Plugin
  pluginlib::ClassLoader<nav2_core::GoalChecker> goal_checker_loader_;
  GoalCheckerMap goal_checkers_;
  std::vector<std::string> default_goal_checker_ids_;
  std::vector<std::string> default_goal_checker_types_;
  std::vector<std::string> goal_checker_ids_;
  std::vector<std::string> goal_checker_types_;
  std::string goal_checker_ids_concat_, current_goal_checker_;
 
  // Controller Plugins
  pluginlib::ClassLoader<nav2_core::Controller> lp_loader_;
  ControllerMap controllers_;
  std::vector<std::string> default_ids_;
  std::vector<std::string> default_types_;
  std::vector<std::string> controller_ids_;
  std::vector<std::string> controller_types_;
  std::string controller_ids_concat_, current_controller_;
 
  double controller_frequency_;
  double min_x_velocity_threshold_;
  double min_y_velocity_threshold_;
  double min_theta_velocity_threshold_;
 
  double failure_tolerance_;
  bool use_realtime_priority_;
  bool publish_zero_velocity_;
  rclcpp::Duration costmap_update_timeout_;
 
  // Whether we've published the single controller warning yet
  geometry_msgs::msg::PoseStamped end_pose_;
 
  // Last time the controller generated a valid command
  rclcpp::Time last_valid_cmd_time_;
 
  // Current path container
  nav_msgs::msg::Path current_path_;
 
private:
  void speedLimitCallback(const nav2_msgs::msg::SpeedLimit::SharedPtr msg);
};
 
}  // namespace nav2_controller
 
#endif  // NAV2_CONTROLLER__CONTROLLER_SERVER_HPP_