assisted_teleop_behavior_tester.hpp

// Copyright (c) 2020 Samsung Research
// Copyright (c) 2018 Intel Corporation
//
// 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. Reserved.
 
#ifndef BEHAVIORS__ASSISTED_TELEOP__ASSISTED_TELEOP_BEHAVIOR_TESTER_HPP_
#define BEHAVIORS__ASSISTED_TELEOP__ASSISTED_TELEOP_BEHAVIOR_TESTER_HPP_
 
#include <gtest/gtest.h>
#include <memory>
#include <string>
#include <thread>
#include <algorithm>
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "nav2_costmap_2d/costmap_topic_collision_checker.hpp"
#include "nav2_msgs/action/assisted_teleop.hpp"
#include "nav2_ros_common/node_thread.hpp"
#include "nav2_util/robot_utils.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/time.hpp"
#include "std_msgs/msg/empty.hpp"
 
#include "tf2/utils.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_system_tests
{
 
class AssistedTeleopBehaviorTester
{
public:
  using AssistedTeleop = nav2_msgs::action::AssistedTeleop;
 
  AssistedTeleopBehaviorTester();
  ~AssistedTeleopBehaviorTester();
 
  // Runs a single test with given target yaw
  bool defaultAssistedTeleopTest(
    const float lin_vel,
    const float ang_vel);
 
  void activate();
 
  void deactivate();
 
  bool isActive() const
  {
    return is_active_;
  }
 
private:
  void sendInitialPose();
 
  void amclPoseCallback(geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr);
 
  void filteredVelCallback(geometry_msgs::msg::TwistStamped::ConstSharedPtr msg);
 
  unsigned int counter_;
  bool is_active_;
  bool initial_pose_received_;
  rclcpp::Time stamp_;
 
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  nav2::TransformListener::SharedPtr tf_listener_;
 
  rclcpp::Node::SharedPtr node_;
  rclcpp::executors::SingleThreadedExecutor executor_;
 
  // Publishers
  rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr initial_pose_pub_;
  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr preempt_pub_;
  rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr cmd_vel_pub_;
 
  // Subscribers
  nav2::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr subscription_;
  nav2::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr filtered_vel_sub_;
 
  // Action client to call AssistedTeleop action
  nav2::ActionClient<AssistedTeleop>::SharedPtr client_ptr_;
 
  // collision checking
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
  std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
  std::unique_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> collision_checker_;
};
 
}  // namespace nav2_system_tests
 
#endif  // BEHAVIORS__ASSISTED_TELEOP__ASSISTED_TELEOP_BEHAVIOR_TESTER_HPP_