collision_monitor.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// 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_ROUTE__PLUGINS__ROUTE_OPERATIONS__COLLISION_MONITOR_HPP_
#define NAV2_ROUTE__PLUGINS__ROUTE_OPERATIONS__COLLISION_MONITOR_HPP_
 
#include <math.h>
#include <memory>
#include <string>
 
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_route/interfaces/route_operation.hpp"
#include "nav2_route/utils.hpp"
#include "nav2_costmap_2d/costmap_subscriber.hpp"
#include "nav2_util/line_iterator.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "nav2_core/route_exceptions.hpp"
 
namespace nav2_route
{
 
class CollisionMonitor : public RouteOperation
{
public:
  struct LineSegment
  {
    unsigned int x0, y0, x1, y1;
  };
 
  CollisionMonitor() = default;
 
  virtual ~CollisionMonitor() = default;
 
  void configure(
    const nav2::LifecycleNode::SharedPtr node,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber,
    const std::string & name) override;
 
  std::string getName() override {return name_;}
 
  RouteOperationType processType() override {return RouteOperationType::ON_QUERY;}
 
  OperationResult perform(
    NodePtr /*node*/,
    EdgePtr curr_edge,
    EdgePtr /*edge_exited*/,
    const Route & route,
    const geometry_msgs::msg::PoseStamped & curr_pose,
    const Metadata * /*mdata*/) override;
 
protected:
  Coordinates backoutValidEndPoint(
    const Coordinates & start, const Coordinates & end, const float dist);
 
  bool backoutValidEndPoint(const Coordinates & start, LineSegment & line);
 
  bool lineToMap(const Coordinates & start, const Coordinates & end, LineSegment & line);
 
  bool isInCollision(const LineSegment & line);
 
  void getCostmap();
 
  std::string name_, topic_;
  std::atomic_bool reroute_;
  rclcpp::Logger logger_{rclcpp::get_logger("CollisionMonitor")};
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Time last_check_time_;
  rclcpp::Duration checking_duration_{0, 0};
  float max_collision_dist_, max_cost_;
  bool reroute_on_collision_;
  unsigned int check_resolution_{1u};
  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber_;
  std::shared_ptr<nav2_costmap_2d::Costmap2D> costmap_{nullptr};
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__PLUGINS__ROUTE_OPERATIONS__COLLISION_MONITOR_HPP_