publisher.hpp

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Locus Robotics
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DWB_CORE__PUBLISHER_HPP_
#define DWB_CORE__PUBLISHER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "dwb_core/trajectory_critic.hpp"
#include "dwb_msgs/msg/local_plan_evaluation.hpp"
#include "nav_msgs/msg/path.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "builtin_interfaces/msg/duration.hpp"
 
using rclcpp_lifecycle::LifecyclePublisher;
 
namespace dwb_core
{
 
class DWBPublisher
{
public:
  explicit DWBPublisher(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name);
 
  nav2_util::CallbackReturn on_configure();
  nav2_util::CallbackReturn on_activate();
  nav2_util::CallbackReturn on_deactivate();
  nav2_util::CallbackReturn on_cleanup();
 
  bool shouldRecordEvaluation() {return publish_evaluation_ || publish_trajectories_;}
 
  void publishEvaluation(std::shared_ptr<dwb_msgs::msg::LocalPlanEvaluation> results);
  void publishLocalPlan(
    const std_msgs::msg::Header & header,
    const dwb_msgs::msg::Trajectory2D & traj);
  void publishCostGrid(
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros,
    const std::vector<TrajectoryCritic::Ptr> critics);
  void publishGlobalPlan(const nav_2d_msgs::msg::Path2D plan);
  void publishTransformedPlan(const nav_2d_msgs::msg::Path2D plan);
  void publishLocalPlan(const nav_2d_msgs::msg::Path2D plan);
 
protected:
  void publishTrajectories(const dwb_msgs::msg::LocalPlanEvaluation & results);
 
  // Helper function for publishing other plans
  void publishGenericPlan(
    const nav_2d_msgs::msg::Path2D plan,
    rclcpp::Publisher<nav_msgs::msg::Path> & pub, bool flag);
 
  // Flags for turning on/off publishing specific components
  bool publish_evaluation_;
  bool publish_global_plan_;
  bool publish_transformed_;
  bool publish_local_plan_;
  bool publish_trajectories_;
  bool publish_cost_grid_pc_;
  bool publish_input_params_;
 
  // Marker Lifetime
  builtin_interfaces::msg::Duration marker_lifetime_;
 
  // Publisher Objects
  std::shared_ptr<LifecyclePublisher<dwb_msgs::msg::LocalPlanEvaluation>> eval_pub_;
  std::shared_ptr<LifecyclePublisher<nav_msgs::msg::Path>> global_pub_;
  std::shared_ptr<LifecyclePublisher<nav_msgs::msg::Path>> transformed_pub_;
  std::shared_ptr<LifecyclePublisher<nav_msgs::msg::Path>> local_pub_;
  std::shared_ptr<LifecyclePublisher<visualization_msgs::msg::MarkerArray>> marker_pub_;
  std::shared_ptr<LifecyclePublisher<sensor_msgs::msg::PointCloud2>> cost_grid_pc_pub_;
 
  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
  rclcpp::Clock::SharedPtr clock_;
  std::string plugin_name_;
};
 
}  // namespace dwb_core
 
#endif  // DWB_CORE__PUBLISHER_HPP_