controller.hpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// 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_MPPI_CONTROLLER__CONTROLLER_HPP_
#define NAV2_MPPI_CONTROLLER__CONTROLLER_HPP_
 
#include <string>
#include <memory>
 
#include "nav2_mppi_controller/optimizer.hpp"
#include "nav2_mppi_controller/tools/trajectory_visualizer.hpp"
#include "nav2_mppi_controller/models/constraints.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_core/controller.hpp"
#include "nav2_core/goal_checker.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_mppi_controller
{
 
using namespace mppi;  // NOLINT
 
class MPPIController : public nav2_core::Controller
{
public:
  MPPIController() = default;
 
  void configure(
    const nav2::LifecycleNode::WeakPtr & parent,
    std::string name, const nav2::TransformBuffer::SharedPtr tf,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  void reset() override;
 
  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & robot_pose,
    const geometry_msgs::msg::Twist & robot_speed,
    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:
  void visualize(
    const builtin_interfaces::msg::Time & cmd_stamp,
    const Eigen::ArrayXXf & optimal_trajectory);
 
  std::string name_;
  nav2::LifecycleNode::WeakPtr parent_;
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  nav2::Publisher<nav_msgs::msg::Trajectory>::SharedPtr opt_traj_pub_;
 
  std::unique_ptr<ParametersHandler> parameters_handler_;
  Optimizer optimizer_;
  TrajectoryVisualizer trajectory_visualizer_;
 
  bool visualize_;
  int critic_index_to_visualize_;
  bool publish_optimal_trajectory_;
};
 
}  // namespace nav2_mppi_controller
 
#endif  // NAV2_MPPI_CONTROLLER__CONTROLLER_HPP_