collision_monitor_node.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
//
// 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_MONITOR_NODE_HPP_
#define NAV2_COLLISION_MONITOR__COLLISION_MONITOR_NODE_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <unordered_map>
 
#include "rclcpp/duration.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/time.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
 
#include "tf2/time.hpp"
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "nav2_util/twist_publisher.hpp"
#include "nav2_util/twist_subscriber.hpp"
#include "nav2_msgs/msg/collision_monitor_state.hpp"
#include "nav2_msgs/srv/toggle.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/costmap.hpp"
#include "nav2_collision_monitor/polygon_source.hpp"
 
namespace nav2_collision_monitor
{
 
class CollisionMonitor : public nav2::LifecycleNode
{
public:
  explicit CollisionMonitor(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~CollisionMonitor();
 
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:
  void cmdVelInCallbackStamped(const geometry_msgs::msg::TwistStamped::ConstSharedPtr & msg);
  void cmdVelInCallbackUnstamped(const geometry_msgs::msg::Twist::ConstSharedPtr & msg);
  void publishVelocity(const Action & robot_action, const std_msgs::msg::Header & header);
 
  bool getParameters(
    std::string & cmd_vel_in_topic,
    std::string & cmd_vel_out_topic,
    std::string & state_topic);
  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(const Velocity & cmd_vel_in, const std_msgs::msg::Header & header);
 
  bool processStopSlowdownLimit(
    const std::shared_ptr<Polygon> polygon,
    const std::unordered_map<std::string, std::vector<Point>> & sources_collision_points_map,
    const Velocity & velocity,
    Action & robot_action) const;
 
  bool processApproach(
    const std::shared_ptr<Polygon> polygon,
    const std::unordered_map<std::string, std::vector<Point>> & sources_collision_points_map,
    const Velocity & velocity,
    Action & robot_action) const;
 
  void notifyActionState(
    const Action & robot_action, const std::shared_ptr<Polygon> action_polygon) const;
 
  void publishVisualizations() const;
 
  void publishTriggeringPoints(const Action & action);
 
  void toggleCMServiceCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav2_msgs::srv::Toggle::Request> request,
    std::shared_ptr<nav2_msgs::srv::Toggle::Response> response);
 
  // ----- 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_;
 
  // Input/output speed controls
  std::unique_ptr<nav2_util::TwistSubscriber> cmd_vel_in_sub_;
  std::unique_ptr<nav2_util::TwistPublisher> cmd_vel_out_pub_;
 
  nav2::Publisher<nav2_msgs::msg::CollisionMonitorState>::SharedPtr
    state_pub_;
 
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    collision_points_marker_pub_;
 
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    triggering_points_pub_;
 
  nav2::ServiceServer<nav2_msgs::srv::Toggle>::SharedPtr toggle_cm_service_;
 
  bool collision_points_marker_3d_;
 
  std::string base_frame_id_;
 
  bool enabled_;
 
  bool process_active_;
 
  Action robot_action_prev_;
  rclcpp::Time stop_stamp_;
  rclcpp::Duration stop_pub_timeout_;
};  // class CollisionMonitor
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__COLLISION_MONITOR_NODE_HPP_