obstacle_layer.hpp

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 * Author: Eitan Marder-Eppstein
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#ifndef NAV2_COSTMAP_2D__OBSTACLE_LAYER_HPP_
#define NAV2_COSTMAP_2D__OBSTACLE_LAYER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/version.h"
#include "laser_geometry/laser_geometry.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
#include "message_filters/subscriber.hpp"
#include "point_cloud_transport/subscriber_filter.hpp"
 
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "sensor_msgs/msg/point_cloud.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "nav2_costmap_2d/costmap_layer.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav2_costmap_2d/observation_buffer.hpp"
#include "nav2_costmap_2d/footprint.hpp"
 
namespace nav2_costmap_2d
{
 
class ObstacleLayer : public CostmapLayer
{
public:
  ObstacleLayer()
  {
    costmap_ = NULL;  // this is the unsigned char* member of parent class Costmap2D.
  }
 
  virtual ~ObstacleLayer();
  virtual void onInitialize();
  virtual void updateBounds(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);
  virtual void updateCosts(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j);
 
  virtual void deactivate();
 
  virtual void activate();
 
  virtual void reset();
 
  virtual bool isClearable() {return true;}
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  void resetBuffersLastUpdated();
 
  void laserScanCallback(
    sensor_msgs::msg::LaserScan::ConstSharedPtr message,
    const std::shared_ptr<nav2_costmap_2d::ObservationBuffer> & buffer);
 
  void laserScanValidInfCallback(
    sensor_msgs::msg::LaserScan::ConstSharedPtr message,
    const std::shared_ptr<nav2_costmap_2d::ObservationBuffer> & buffer);
 
  void pointCloud2Callback(
    sensor_msgs::msg::PointCloud2::ConstSharedPtr message,
    const std::shared_ptr<nav2_costmap_2d::ObservationBuffer> & buffer);
 
  // for testing purposes
  void addStaticObservation(nav2_costmap_2d::Observation obs, bool marking, bool clearing);
  void clearStaticObservations(bool marking, bool clearing);
 
protected:
  bool getMarkingObservations(
    std::vector<nav2_costmap_2d::Observation::ConstSharedPtr> & marking_observations) const;
 
  bool getClearingObservations(
    std::vector<nav2_costmap_2d::Observation::ConstSharedPtr> & clearing_observations) const;
 
  virtual void raytraceFreespace(
    const nav2_costmap_2d::Observation & clearing_observation,
    double * min_x, double * min_y,
    double * max_x,
    double * max_y);
 
  void updateRaytraceBounds(
    double ox, double oy, double wx, double wy, double max_range, double min_range,
    double * min_x, double * min_y,
    double * max_x,
    double * max_y);
 
  std::vector<geometry_msgs::msg::Point> transformed_footprint_;
  bool footprint_clearing_enabled_;
  void updateFootprint(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y);
 
  std::string global_frame_;  
  double min_obstacle_height_;  
  double max_obstacle_height_;  
 
  laser_geometry::LaserProjection projector_;
  #if RCLCPP_VERSION_GTE(29, 6, 0)
  std::vector<std::shared_ptr<message_filters::SubscriberBase>>
  observation_subscribers_;
  #else
  std::vector<std::shared_ptr<message_filters::SubscriberBase<rclcpp_lifecycle::LifecycleNode>>>
  observation_subscribers_;
  #endif
  std::vector<std::shared_ptr<tf2_ros::MessageFilterBase>> observation_notifiers_;
  std::vector<std::shared_ptr<nav2_costmap_2d::ObservationBuffer>> observation_buffers_;
  std::vector<std::shared_ptr<nav2_costmap_2d::ObservationBuffer>> marking_buffers_;
  std::vector<std::shared_ptr<nav2_costmap_2d::ObservationBuffer>> clearing_buffers_;
 
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
 
  // Used only for testing purposes
  std::vector<nav2_costmap_2d::Observation::ConstSharedPtr> static_clearing_observations_;
  std::vector<nav2_costmap_2d::Observation::ConstSharedPtr> static_marking_observations_;
 
  bool rolling_window_;
  bool was_reset_;
  nav2_costmap_2d::CombinationMethod combination_method_;
  bool allow_parameter_qos_overrides_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__OBSTACLE_LAYER_HPP_