navigator.hpp

// Copyright (c) 2024 Open Navigation LLC
//
// 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__NAVIGATOR_HPP_
#define OPENNAV_DOCKING__NAVIGATOR_HPP_
 
#include <vector>
#include <memory>
#include <string>
#include <functional>
 
#include "rclcpp/callback_group.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
 
#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "opennav_docking/utils.hpp"
#include "opennav_docking/types.hpp"
 
namespace opennav_docking
{
class Navigator
{
public:
  using Nav2Pose = nav2_msgs::action::NavigateToPose;
  using ActionClient = nav2::ActionClient<Nav2Pose>;
 
  explicit Navigator(const nav2::LifecycleNode::WeakPtr & parent);
 
  ~Navigator() = default;
 
  void activate();
 
  void deactivate();
 
  void goToPose(
    const geometry_msgs::msg::PoseStamped & pose,
    rclcpp::Duration remaining_staging_duration,
    std::function<bool()> isPreempted,
    bool recursed = false);
 
protected:
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  rclcpp::executors::SingleThreadedExecutor executor_;
  ActionClient::SharedPtr nav_to_pose_client_;
  std::string navigator_bt_xml_;
};
 
}  // namespace opennav_docking
 
#endif  // OPENNAV_DOCKING__NAVIGATOR_HPP_