input_at_waypoint.hpp

// Copyright (c) 2020 Samsung Research America
// 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_WAYPOINT_FOLLOWER__PLUGINS__INPUT_AT_WAYPOINT_HPP_
#define NAV2_WAYPOINT_FOLLOWER__PLUGINS__INPUT_AT_WAYPOINT_HPP_
#pragma once
 
#include <string>
#include <mutex>
#include <memory>
 
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "std_msgs/msg/empty.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_core/waypoint_task_executor.hpp"
 
namespace nav2_waypoint_follower
{
 
class InputAtWaypoint : public nav2_core::WaypointTaskExecutor
{
public:
  InputAtWaypoint();
 
  ~InputAtWaypoint();
 
  void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name);
 
  bool processAtWaypoint(
    const geometry_msgs::msg::PoseStamped & curr_pose, const int & curr_waypoint_index);
 
protected:
  void Cb(const std_msgs::msg::Empty::ConstSharedPtr & msg);
 
  bool input_received_;
  bool is_enabled_;
  rclcpp::Duration timeout_;
  rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")};
  rclcpp::Clock::SharedPtr clock_;
  nav2::LifecycleNode::WeakPtr node_;
  std::mutex mutex_;
  nav2::Subscription<std_msgs::msg::Empty>::SharedPtr subscription_;
};
 
}  // namespace nav2_waypoint_follower
 
#endif  // NAV2_WAYPOINT_FOLLOWER__PLUGINS__INPUT_AT_WAYPOINT_HPP_