planner_server.hpp

// Copyright (c) 2019 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_PLANNER__PLANNER_SERVER_HPP_
#define NAV2_PLANNER__PLANNER_SERVER_HPP_
 
#include <chrono>
#include <string>
#include <memory>
#include <vector>
#include <unordered_map>
#include <mutex>
 
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_msgs/action/compute_path_to_pose.hpp"
#include "nav2_msgs/action/compute_path_through_poses.hpp"
#include "nav2_msgs/msg/costmap.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/simple_action_server.hpp"
#include "nav2_util/service_server.hpp"
#include "tf2_ros/transform_listener.h"
#include "tf2_ros/create_timer_ros.h"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_core/global_planner.hpp"
#include "nav2_msgs/srv/is_path_valid.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_core/planner_exceptions.hpp"
 
namespace nav2_planner
{
class PlannerServer : public nav2_util::LifecycleNode
{
public:
  explicit PlannerServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~PlannerServer();
 
  using PlannerMap = std::unordered_map<std::string, nav2_core::GlobalPlanner::Ptr>;
 
  nav_msgs::msg::Path getPlan(
    const geometry_msgs::msg::PoseStamped & start,
    const geometry_msgs::msg::PoseStamped & goal,
    const std::string & planner_id,
    std::function<bool()> cancel_checker);
 
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 ActionToPose = nav2_msgs::action::ComputePathToPose;
  using ActionToPoseResult = ActionToPose::Result;
  using ActionThroughPoses = nav2_msgs::action::ComputePathThroughPoses;
  using ActionThroughPosesResult = ActionThroughPoses::Result;
  using ActionServerToPose = nav2_util::SimpleActionServer<ActionToPose>;
  using ActionServerThroughPoses = nav2_util::SimpleActionServer<ActionThroughPoses>;
 
  template<typename T>
  bool isServerInactive(std::unique_ptr<nav2_util::SimpleActionServer<T>> & action_server);
 
  template<typename T>
  bool isCancelRequested(std::unique_ptr<nav2_util::SimpleActionServer<T>> & action_server);
 
  void waitForCostmap();
 
  template<typename T>
  void getPreemptedGoalIfRequested(
    std::unique_ptr<nav2_util::SimpleActionServer<T>> & action_server,
    typename std::shared_ptr<const typename T::Goal> goal);
 
  template<typename T>
  bool getStartPose(
    typename std::shared_ptr<const typename T::Goal> goal,
    geometry_msgs::msg::PoseStamped & start);
 
  bool transformPosesToGlobalFrame(
    geometry_msgs::msg::PoseStamped & curr_start,
    geometry_msgs::msg::PoseStamped & curr_goal);
 
  template<typename T>
  bool validatePath(
    const geometry_msgs::msg::PoseStamped & curr_goal,
    const nav_msgs::msg::Path & path,
    const std::string & planner_id);
 
  void computePlan();
 
  void computePlanThroughPoses();
 
  void isPathValid(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav2_msgs::srv::IsPathValid::Request> request,
    std::shared_ptr<nav2_msgs::srv::IsPathValid::Response> response);
 
  void publishPlan(const nav_msgs::msg::Path & path);
 
  void exceptionWarning(
    const geometry_msgs::msg::PoseStamped & start,
    const geometry_msgs::msg::PoseStamped & goal,
    const std::string & planner_id,
    const std::exception & ex,
    std::string & msg);
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  // Our action server implements the ComputePathToPose action
  std::unique_ptr<ActionServerToPose> action_server_pose_;
  std::unique_ptr<ActionServerThroughPoses> action_server_poses_;
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
  std::mutex dynamic_params_lock_;
 
  // Planner
  PlannerMap planners_;
  pluginlib::ClassLoader<nav2_core::GlobalPlanner> gp_loader_;
  std::vector<std::string> default_ids_;
  std::vector<std::string> default_types_;
  std::vector<std::string> planner_ids_;
  std::vector<std::string> planner_types_;
  double max_planner_duration_;
  rclcpp::Duration costmap_update_timeout_;
  std::string planner_ids_concat_;
 
  // TF buffer
  std::shared_ptr<tf2_ros::Buffer> tf_;
 
  // Global Costmap
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::unique_ptr<nav2_util::NodeThread> costmap_thread_;
  nav2_costmap_2d::Costmap2D * costmap_;
  std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
  collision_checker_;
 
  // Publishers for the path
  rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr plan_publisher_;
 
  // Service to determine if the path is valid
  nav2_util::ServiceServer<nav2_msgs::srv::IsPathValid,
    std::shared_ptr<nav2_util::LifecycleNode>>::SharedPtr is_path_valid_service_;
};
 
}  // namespace nav2_planner
 
#endif  // NAV2_PLANNER__PLANNER_SERVER_HPP_