dwb_local_planner.hpp

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#ifndef DWB_CORE__DWB_LOCAL_PLANNER_HPP_
#define DWB_CORE__DWB_LOCAL_PLANNER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_core/controller.hpp"
#include "nav2_core/goal_checker.hpp"
#include "dwb_core/publisher.hpp"
#include "dwb_core/trajectory_critic.hpp"
#include "dwb_core/trajectory_generator.hpp"
#include "nav_2d_msgs/msg/pose2_d_stamped.hpp"
#include "nav_2d_msgs/msg/twist2_d_stamped.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
 
namespace dwb_core
{
 
class DWBLocalPlanner : public nav2_core::Controller
{
public:
  DWBLocalPlanner();
 
  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;
 
  virtual ~DWBLocalPlanner() {}
 
  void activate() override;
 
  void deactivate() override;
 
  void cleanup() override;
 
  void setPlan(const nav_msgs::msg::Path & path) override;
 
  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity,
    nav2_core::GoalChecker * /*goal_checker*/) override;
 
  virtual dwb_msgs::msg::TrajectoryScore scoreTrajectory(
    const dwb_msgs::msg::Trajectory2D & traj,
    double best_score = -1);
 
  virtual nav_2d_msgs::msg::Twist2DStamped computeVelocityCommands(
    const nav_2d_msgs::msg::Pose2DStamped & pose,
    const nav_2d_msgs::msg::Twist2D & velocity,
    std::shared_ptr<dwb_msgs::msg::LocalPlanEvaluation> & results);
 
  void setSpeedLimit(const double & speed_limit, const bool & percentage) override
  {
    if (traj_generator_) {
      traj_generator_->setSpeedLimit(speed_limit, percentage);
    }
  }
 
protected:
  void prepareGlobalPlan(
    const nav_2d_msgs::msg::Pose2DStamped & pose, nav_2d_msgs::msg::Path2D & transformed_plan,
    nav_2d_msgs::msg::Pose2DStamped & goal_pose, bool publish_plan = true);
 
  virtual dwb_msgs::msg::TrajectoryScore coreScoringAlgorithm(
    const geometry_msgs::msg::Pose2D & pose,
    const nav_2d_msgs::msg::Twist2D velocity,
    std::shared_ptr<dwb_msgs::msg::LocalPlanEvaluation> & results);
 
  virtual nav_2d_msgs::msg::Path2D transformGlobalPlan(
    const nav_2d_msgs::msg::Pose2DStamped & pose);
  nav_2d_msgs::msg::Path2D global_plan_;  
  bool prune_plan_;
  double prune_distance_;
  bool debug_trajectory_details_;
  rclcpp::Duration transform_tolerance_{0, 0};
  bool shorten_transformed_plan_;
  double forward_prune_distance_;
 
  std::string resolveCriticClassName(std::string base_name);
 
  virtual void loadCritics();
 
  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("DWBLocalPlanner")};
 
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
 
  std::unique_ptr<DWBPublisher> pub_;
  std::vector<std::string> default_critic_namespaces_;
 
  // Plugin handling
  pluginlib::ClassLoader<TrajectoryGenerator> traj_gen_loader_;
  TrajectoryGenerator::Ptr traj_generator_;
 
  pluginlib::ClassLoader<TrajectoryCritic> critic_loader_;
  std::vector<TrajectoryCritic::Ptr> critics_;
 
  std::string dwb_plugin_name_;
 
  bool short_circuit_trajectory_evaluation_;
};
 
}  // namespace dwb_core
 
#endif  // DWB_CORE__DWB_LOCAL_PLANNER_HPP_