adaptive_tolerance_goal_checker.hpp

// Copyright (c) 2026, David Grbac
//
// 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_CONTROLLER__PLUGINS__ADAPTIVE_TOLERANCE_GOAL_CHECKER_HPP_
#define NAV2_CONTROLLER__PLUGINS__ADAPTIVE_TOLERANCE_GOAL_CHECKER_HPP_
 
#include <memory>
#include <string>
#include <vector>
#include <limits>
 
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_core/goal_checker.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
namespace nav2_controller
{
 
class AdaptiveToleranceGoalChecker : public nav2_core::GoalChecker
{
public:
  AdaptiveToleranceGoalChecker();
  ~AdaptiveToleranceGoalChecker();
 
  void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void reset() override;
 
  bool isGoalReached(
    const geometry_msgs::msg::Pose & query_pose,
    const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Twist & velocity,
    const nav_msgs::msg::Path & transformed_global_plan) override;
 
  bool isGoalXYReached(
    const geometry_msgs::msg::Pose & query_pose,
    const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Twist & velocity,
    const nav_msgs::msg::Path & transformed_global_plan) override;
 
  bool getTolerances(
    geometry_msgs::msg::Pose & pose_tolerance,
    geometry_msgs::msg::Twist & vel_tolerance,
    double & path_length_tolerance) override;
 
protected:
  enum class XyAcceptanceReason
  {
    NONE,
    FINE_TOLERANCE,
    COARSE_TOLERANCE_FINISH_LINE,
    COARSE_TOLERANCE_STOPPED_STAGNATION,
    COARSE_TOLERANCE_DISTANCE_STAGNATION
  };
 
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_{rclcpp::get_logger("adaptive_tolerance_goal_checker")};
 
  // Fine (desired) tolerance
  double fine_xy_goal_tolerance_;
  double fine_xy_goal_tolerance_sq_;
  // Coarse (fallback) tolerance
  double coarse_xy_goal_tolerance_;
  double coarse_xy_goal_tolerance_sq_;
  // Hysteresis buffer used when stateful to reset the
  // check_xy_ when the robot drifts outside the accepted region.
  double xy_goal_tolerance_buffer_;
  double fine_xy_goal_tolerance_reset_sq_, coarse_xy_goal_tolerance_reset_sq_;
 
  double yaw_goal_tolerance_;
  double path_length_tolerance_;
  bool stateful_;
  bool symmetric_yaw_tolerance_;
 
  // Velocity thresholds for detecting a stopped/stalled robot
  double trans_stopped_velocity_;
  double rot_stopped_velocity_;
 
  // Number of consecutive stopped cycles before accepting at coarse tolerance
  int required_stagnation_cycles_;
 
  // Stateful tracking
  bool check_xy_;
  bool in_tolerance_zone_;
  int stopped_stagnation_count_;
  int distance_stagnation_count_;
  double best_distance_sq_;
  double approach_dx_;
  double approach_dy_;
  XyAcceptanceReason xy_acceptance_reason_;
 
  // Dynamic parameters
  std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
  std::string plugin_name_;
 
  static std::string toString(XyAcceptanceReason reason);
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
};
 
}  // namespace nav2_controller
 
#endif  // NAV2_CONTROLLER__PLUGINS__ADAPTIVE_TOLERANCE_GOAL_CHECKER_HPP_