graceful_controller.hpp

// Copyright (c) 2023 Alberto J. Tudela Roldán
//
// 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_GRACEFUL_CONTROLLER__GRACEFUL_CONTROLLER_HPP_
#define NAV2_GRACEFUL_CONTROLLER__GRACEFUL_CONTROLLER_HPP_
 
#include <string>
#include <limits>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "nav2_core/controller.hpp"
#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "rclcpp/rclcpp.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_graceful_controller/parameter_handler.hpp"
#include "nav2_graceful_controller/smooth_control_law.hpp"
#include "nav2_graceful_controller/utils.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_graceful_controller
{
 
class GracefulController : public nav2_core::Controller
{
public:
  GracefulController() = default;
 
  ~GracefulController() override = default;
 
  void configure(
    const nav2::LifecycleNode::WeakPtr & parent,
    std::string name, nav2::TransformBuffer::SharedPtr tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity,
    nav2_core::GoalChecker * goal_checker,
    const nav_msgs::msg::Path & transformed_global_plan,
    const geometry_msgs::msg::PoseStamped & global_goal) override;
 
  void newPathReceived(const nav_msgs::msg::Path & raw_global_path) override;
 
  void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
 
protected:
  bool validateTargetPose(
    geometry_msgs::msg::PoseStamped & target_pose,
    double dist_to_target,
    nav_msgs::msg::Path & trajectory,
    geometry_msgs::msg::TransformStamped & costmap_transform,
    geometry_msgs::msg::TwistStamped & cmd_vel);
 
  bool validateTargetPoseOnApproach(
    geometry_msgs::msg::PoseStamped & target_pose,
    double dist_to_target,
    double dist_to_goal,
    nav_msgs::msg::Path & trajectory,
    geometry_msgs::msg::TransformStamped & costmap_transform,
    geometry_msgs::msg::TwistStamped & cmd_vel);
 
  bool findBestApproachTrajectory(
    geometry_msgs::msg::PoseStamped & target_pose,
    double dist_to_target,
    geometry_msgs::msg::TransformStamped & costmap_transform,
    double safety_cost,
    nav_msgs::msg::Path & best_trajectory,
    geometry_msgs::msg::TwistStamped & best_cmd_vel);
 
  bool simulateTrajectory(
    const geometry_msgs::msg::PoseStamped & motion_target,
    const geometry_msgs::msg::TransformStamped & costmap_transform,
    nav_msgs::msg::Path & trajectory,
    geometry_msgs::msg::TwistStamped & cmd_vel,
    bool backward);
 
  geometry_msgs::msg::Twist rotateToTarget(double angle_to_target);
 
  bool inCollision(
    const double & x, const double & y, const double & theta,
    double inflation_scale = 1.0);
 
  double getMaxCost(
    const nav_msgs::msg::Path & path,
    geometry_msgs::msg::TransformStamped & costmap_transform);
 
  void computeDistanceAlongPath(
    const std::vector<geometry_msgs::msg::PoseStamped> & poses,
    std::vector<double> & distances);
 
  void validateOrientations(std::vector<geometry_msgs::msg::PoseStamped> & path);
 
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  std::string plugin_name_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
  collision_checker_;
  rclcpp::Logger logger_{rclcpp::get_logger("GracefulController")};
 
  Parameters * params_;
 
  // True from the time a new path arrives until we have completed an initial rotation
  bool do_initial_rotation_;
 
  std::optional<double> safe_approach_angle_;
 
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr local_plan_pub_;
  nav2::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr motion_target_pub_;
  nav2::Publisher<visualization_msgs::msg::Marker>::SharedPtr slowdown_pub_;
  std::unique_ptr<nav2_graceful_controller::ParameterHandler> param_handler_;
  std::unique_ptr<nav2_graceful_controller::SmoothControlLaw> control_law_;
};
 
}  // namespace nav2_graceful_controller
 
#endif  // NAV2_GRACEFUL_CONTROLLER__GRACEFUL_CONTROLLER_HPP_