navigate_to_pose.hpp

// Copyright (c) 2021-2023 Samsung Research
//
// 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__NAVIGATORS__NAVIGATE_TO_POSE_HPP_
#define NAV2_BT_NAVIGATOR__NAVIGATORS__NAVIGATE_TO_POSE_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_core/behavior_tree_navigator.hpp"
#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_util/odometry_utils.hpp"
 
namespace nav2_bt_navigator
{
 
class NavigateToPoseNavigator
  : public nav2_core::BehaviorTreeNavigator<nav2_msgs::action::NavigateToPose>
{
public:
  using ActionT = nav2_msgs::action::NavigateToPose;
 
  NavigateToPoseNavigator()
  : BehaviorTreeNavigator() {}
 
  bool configure(
    rclcpp_lifecycle::LifecycleNode::WeakPtr node,
    std::shared_ptr<nav2_util::OdomSmoother> odom_smoother) override;
 
  bool cleanup() override;
 
  void onGoalPoseReceived(const geometry_msgs::msg::PoseStamped::SharedPtr pose);
 
  std::string getName() override {return std::string("navigate_to_pose");}
 
  std::string getDefaultBTFilepath(rclcpp_lifecycle::LifecycleNode::WeakPtr node) override;
 
protected:
  bool goalReceived(ActionT::Goal::ConstSharedPtr goal) override;
 
  void onLoop() override;
 
  void onPreempt(ActionT::Goal::ConstSharedPtr goal) override;
 
  void goalCompleted(
    typename ActionT::Result::SharedPtr result,
    const nav2_behavior_tree::BtStatus final_bt_status) override;
 
  bool initializeGoalPose(ActionT::Goal::ConstSharedPtr goal);
 
  rclcpp::Time start_time_;
 
  rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr goal_sub_;
  rclcpp_action::Client<ActionT>::SharedPtr self_client_;
 
  std::string goal_blackboard_id_;
  std::string path_blackboard_id_;
 
  // Odometry smoother object
  std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_;
};
 
}  // namespace nav2_bt_navigator
 
#endif  // NAV2_BT_NAVIGATOR__NAVIGATORS__NAVIGATE_TO_POSE_HPP_