position_goal_checker.hpp

// Copyright (c) 2025 Prabhav Saxena
//
// 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_CONTROLLER__PLUGINS__POSITION_GOAL_CHECKER_HPP_
#define NAV2_CONTROLLER__PLUGINS__POSITION_GOAL_CHECKER_HPP_
 
#include <string>
#include <memory>
#include <vector>
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_core/goal_checker.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
namespace nav2_controller
{
 
class PositionGoalChecker : public nav2_core::GoalChecker
{
public:
  PositionGoalChecker();
 
  ~PositionGoalChecker();
 
  void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void reset() override;
 
  bool isGoalReached(
    const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Twist & velocity,
    const nav_msgs::msg::Path & transformed_global_plan) override;
 
  bool getTolerances(
    geometry_msgs::msg::Pose & pose_tolerance,
    geometry_msgs::msg::Twist & vel_tolerance,
    double & path_length_tolerance) override;
 
  bool isGoalXYReached(
    const geometry_msgs::msg::Pose & query_pose,
    const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Twist & velocity,
    const nav_msgs::msg::Path & transformed_global_plan) override;
 
protected:
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_{rclcpp::get_logger("position_goal_checker")};
  double xy_goal_tolerance_, xy_goal_tolerance_buffer_;
  double xy_goal_tolerance_sq_, xy_goal_tolerance_reset_sq_;
  double path_length_tolerance_;
  bool stateful_;
  bool position_reached_;
  std::string plugin_name_;
  std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
};
 
}  // namespace nav2_controller
 
#endif  // NAV2_CONTROLLER__PLUGINS__POSITION_GOAL_CHECKER_HPP_