controller.hpp

// Copyright (c) 2024 Open Navigation LLC
// Copyright (c) 2024 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 OPENNAV_DOCKING__CONTROLLER_HPP_
#define OPENNAV_DOCKING__CONTROLLER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "nav2_costmap_2d/costmap_subscriber.hpp"
#include "nav2_costmap_2d/footprint_subscriber.hpp"
#include "nav2_costmap_2d/costmap_topic_collision_checker.hpp"
#include "nav2_graceful_controller/smooth_control_law.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace opennav_docking
{
class Controller
{
public:
  Controller(
    const nav2::LifecycleNode::SharedPtr & node, nav2::TransformBuffer::SharedPtr tf,
    std::string fixed_frame, std::string base_frame);
 
  ~Controller();
 
  bool computeVelocityCommand(
    const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool is_docking,
    bool backward = false);
 
  geometry_msgs::msg::Twist computeRotateToHeadingCommand(
    const double & angular_distance_to_heading,
    const geometry_msgs::msg::Twist & current_velocity,
    const double & dt);
 
protected:
  bool isTrajectoryCollisionFree(
    const geometry_msgs::msg::Pose & target_pose, bool is_docking, bool backward = false);
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  void configureCollisionChecker(
    const nav2::LifecycleNode::SharedPtr & node,
    std::string costmap_topic, std::string footprint_topic, double transform_tolerance);
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
  std::mutex dynamic_params_lock_;
 
  rclcpp::Logger logger_{rclcpp::get_logger("Controller")};
  rclcpp::Clock::SharedPtr clock_;
 
  // Smooth control law
  std::unique_ptr<nav2_graceful_controller::SmoothControlLaw> control_law_;
  double k_phi_, k_delta_, beta_, lambda_;
  double slowdown_radius_, deceleration_max_, v_linear_min_, v_linear_max_, v_angular_max_;
  double rotate_to_heading_angular_vel_, rotate_to_heading_max_angular_accel_;
 
  // The trajectory of the robot while dock / undock for visualization / debug purposes
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr trajectory_pub_;
 
  // Used for collision checking
  bool use_collision_detection_;
  double projection_time_;
  double simulation_time_step_;
  double dock_collision_threshold_;
  double transform_tolerance_;
  nav2::TransformBuffer::SharedPtr tf2_buffer_;
  std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
  std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
  std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> collision_checker_;
  std::string fixed_frame_, base_frame_;
};
 
}  // namespace opennav_docking
 
#endif  // OPENNAV_DOCKING__CONTROLLER_HPP_