docking_server.hpp

// Copyright (c) 2024 Open Navigation LLC
//
// 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 OPENNAV_DOCKING__DOCKING_SERVER_HPP_
#define OPENNAV_DOCKING__DOCKING_SERVER_HPP_
 
#include <functional>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/simple_action_server.hpp"
#include "nav2_util/twist_publisher.hpp"
#include "nav_2d_utils/odom_subscriber.hpp"
#include "opennav_docking/controller.hpp"
#include "opennav_docking/utils.hpp"
#include "opennav_docking/types.hpp"
#include "opennav_docking/dock_database.hpp"
#include "opennav_docking/navigator.hpp"
#include "opennav_docking_core/charging_dock.hpp"
#include "tf2_ros/transform_listener.h"
 
namespace opennav_docking
{
class DockingServer : public nav2_util::LifecycleNode
{
public:
  using DockingActionServer = nav2_util::SimpleActionServer<DockRobot>;
  using UndockingActionServer = nav2_util::SimpleActionServer<UndockRobot>;
 
  explicit DockingServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  ~DockingServer() = default;
 
  void stashDockData(bool use_dock_id, Dock * dock, bool successful);
 
  void publishDockingFeedback(uint16_t state);
 
  Dock * generateGoalDock(std::shared_ptr<const DockRobot::Goal> goal);
 
  void doInitialPerception(Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose);
 
  bool approachDock(Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose, bool backward);
 
  void rotateToDock(const geometry_msgs::msg::PoseStamped & dock_pose);
 
  bool waitForCharge(Dock * dock);
 
  bool resetApproach(const geometry_msgs::msg::PoseStamped & staging_pose, bool backward);
 
  bool getCommandToPose(
    geometry_msgs::msg::Twist & cmd, const geometry_msgs::msg::PoseStamped & pose,
    double linear_tolerance, double angular_tolerance, bool is_docking, bool backward);
 
  virtual geometry_msgs::msg::PoseStamped getRobotPoseInFrame(const std::string & frame);
 
  template<typename ActionT>
  void getPreemptedGoalIfRequested(
    typename std::shared_ptr<const typename ActionT::Goal> goal,
    const std::unique_ptr<nav2_util::SimpleActionServer<ActionT>> & action_server);
 
  template<typename ActionT>
  bool checkAndWarnIfCancelled(
    std::unique_ptr<nav2_util::SimpleActionServer<ActionT>> & action_server,
    const std::string & name);
 
  template<typename ActionT>
  bool checkAndWarnIfPreempted(
    std::unique_ptr<nav2_util::SimpleActionServer<ActionT>> & action_server,
    const std::string & name);
 
  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;
 
  void publishZeroVelocity();
 
protected:
  void dockRobot();
 
  void undockRobot();
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
 
  // Mutex for dynamic parameters and dock database
  std::shared_ptr<std::mutex> mutex_;
 
  // Frequency to run control loops
  double controller_frequency_;
  // Timeout for initially detecting the charge dock
  double initial_perception_timeout_;
  // Timeout after making contact with dock for charging to start
  // If this is exceeded, the robot returns to the staging pose and retries
  double wait_charge_timeout_;
  // Timeout to approach into the dock and reset its approach is retrying
  double dock_approach_timeout_;
  // Timeout to rotate to the dock
  double rotate_to_dock_timeout_;
  // When undocking, these are the tolerances for arriving at the staging pose
  double undock_linear_tolerance_, undock_angular_tolerance_;
  // Maximum number of times the robot will return to staging pose and retry docking
  int max_retries_, num_retries_;
  // This is the root frame of the robot - typically "base_link"
  std::string base_frame_;
  // This is our fixed frame for controlling - typically "odom"
  std::string fixed_frame_;
  // Does the robot drive backwards onto the dock? Default is forwards
  std::optional<bool> dock_backwards_;
  // The tolerance to the dock's staging pose not requiring navigation
  double dock_prestaging_tolerance_;
  // Angular tolerance to exit the rotation loop when rotate_to_dock is enabled
  double rotation_angular_tolerance_;
 
  // This is a class member so it can be accessed in publish feedback
  rclcpp::Time action_start_time_;
 
  std::unique_ptr<nav2_util::TwistPublisher> vel_publisher_;
  std::unique_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
  std::unique_ptr<DockingActionServer> docking_action_server_;
  std::unique_ptr<UndockingActionServer> undocking_action_server_;
 
  std::unique_ptr<DockDatabase> dock_db_;
  std::unique_ptr<Navigator> navigator_;
  std::unique_ptr<Controller> controller_;
  std::string curr_dock_type_;
 
  std::shared_ptr<tf2_ros::Buffer> tf2_buffer_;
  std::unique_ptr<tf2_ros::TransformListener> tf2_listener_;
};
 
}  // namespace opennav_docking
 
#endif  // OPENNAV_DOCKING__DOCKING_SERVER_HPP_