collision_detector_node.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
// Copyright (c) 2023 Pixel Robotics GmbH
//
// 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_COLLISION_MONITOR__COLLISION_DETECTOR_NODE_HPP_
#define NAV2_COLLISION_MONITOR__COLLISION_DETECTOR_NODE_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <unordered_map>
 
#include "rclcpp/rclcpp.hpp"
 
#include "tf2/time.hpp"
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "nav2_msgs/msg/collision_detector_state.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
 
#include "nav2_collision_monitor/types.hpp"
#include "nav2_collision_monitor/polygon.hpp"
#include "nav2_collision_monitor/circle.hpp"
#include "nav2_collision_monitor/velocity_polygon.hpp"
#include "nav2_collision_monitor/source.hpp"
#include "nav2_collision_monitor/scan.hpp"
#include "nav2_collision_monitor/pointcloud.hpp"
#include "nav2_collision_monitor/range.hpp"
#include "nav2_collision_monitor/polygon_source.hpp"
#include "nav2_collision_monitor/costmap.hpp"
 
namespace nav2_collision_monitor
{
 
class CollisionDetector : public nav2::LifecycleNode
{
public:
  explicit CollisionDetector(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~CollisionDetector();
 
protected:
  nav2::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
protected:
  bool getParameters();
  bool configurePolygons(
    const std::string & base_frame_id,
    const tf2::Duration & transform_tolerance);
  bool configureSources(
    const std::string & base_frame_id,
    const std::string & odom_frame_id,
    const tf2::Duration & transform_tolerance,
    const rclcpp::Duration & source_timeout,
    const bool base_shift_correction);
 
  void process();
 
  void publishVisualizations() const;
 
  void publishTriggeringPoints(
    const std::unordered_map<std::string, std::vector<Point>> & all_triggering_points);
 
  // ----- Variables -----
 
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  nav2::TransformListener::SharedPtr tf_listener_;
 
  std::vector<std::shared_ptr<Polygon>> polygons_;
  std::vector<std::shared_ptr<Source>> sources_;
 
  nav2::Publisher<nav2_msgs::msg::CollisionDetectorState>::SharedPtr
    state_pub_;
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    collision_points_marker_pub_;
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    triggering_points_pub_;
  rclcpp::TimerBase::SharedPtr timer_;
 
  double frequency_;
  bool collision_points_marker_3d_;
  std::string base_frame_id_;
};  // class CollisionDetector
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__COLLISION_DETECTOR_NODE_HPP_