simple_charging_dock.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__SIMPLE_CHARGING_DOCK_HPP_
#define OPENNAV_DOCKING__SIMPLE_CHARGING_DOCK_HPP_
 
#include <string>
#include <memory>
#include <vector>
 
#include "std_srvs/srv/trigger.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "sensor_msgs/msg/battery_state.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "tf2/utils.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
#include "opennav_docking_core/charging_dock.hpp"
#include "opennav_docking/pose_filter.hpp"
 
namespace opennav_docking
{
 
class SimpleChargingDock : public opennav_docking_core::ChargingDock
{
public:
  SimpleChargingDock()
  : ChargingDock()
  {}
 
  virtual void configure(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & name, nav2::TransformBuffer::SharedPtr tf);
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  virtual geometry_msgs::msg::PoseStamped getStagingPose(
    const geometry_msgs::msg::Pose & pose, const std::string & frame);
 
  virtual bool getRefinedPose(geometry_msgs::msg::PoseStamped & pose, std::string id);
 
  virtual bool isDocked();
 
  virtual bool isCharging();
 
  virtual bool disableCharging();
 
  virtual bool hasStoppedCharging();
 
  bool startDetectionProcess() override;
 
  bool stopDetectionProcess() override;
 
protected:
  void jointStateCallback(const sensor_msgs::msg::JointState::ConstSharedPtr & state);
 
  // Optionally subscribe to a detected dock pose topic
  nav2::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr dock_pose_sub_;
  nav2::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr dock_pose_pub_;
  nav2::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr filtered_dock_pose_pub_;
  nav2::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr staging_pose_pub_;
  // If subscribed to a detected pose topic, will contain latest message
  geometry_msgs::msg::PoseStamped detected_dock_pose_;
  // This is the actual dock pose once it has the specified translation/rotation applied
  // If not subscribed to a topic, this is simply the database dock pose
  geometry_msgs::msg::PoseStamped dock_pose_;
 
  // Subscribe to battery message, used to determine if charging
  nav2::Subscription<sensor_msgs::msg::BatteryState>::SharedPtr battery_sub_;
  bool is_charging_;
  bool use_battery_status_;
 
  // Optionally subscribe to joint state message, used to determine if stalled
  nav2::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;
  std::vector<std::string> stall_joint_names_;
  double stall_velocity_threshold_, stall_effort_threshold_;
  bool is_stalled_;
 
  // An external reference (such as image_proc::TrackMarkerNode) can be used to detect dock
  bool use_external_detection_pose_;
  double external_detection_timeout_;
  tf2::Quaternion external_detection_rotation_;
  double external_detection_translation_x_;
  double external_detection_translation_y_;
 
  // Filtering of detected poses
  std::shared_ptr<PoseFilter> filter_;
 
  // Threshold that battery current must exceed to be "charging" (in Amperes)
  double charging_threshold_;
  // If not using an external pose reference, this is the distance threshold
  double docking_threshold_;
  std::string base_frame_id_;
  // Offset for staging pose relative to dock pose
  double staging_x_offset_;
  double staging_yaw_offset_;
 
  nav2::LifecycleNode::SharedPtr node_;
  nav2::TransformBuffer::SharedPtr tf2_buffer_;
 
  // Detector control parameters
  std::string detector_service_name_;
  double detector_service_timeout_{5.0};
  bool subscribe_toggle_{false};
 
  // Client used to call the Trigger service
  nav2::ServiceClient<std_srvs::srv::Trigger>::SharedPtr detector_client_;
 
  // Detection state flags
  bool detection_active_{false};
  bool initial_pose_received_{false};
};
 
}  // namespace opennav_docking
 
#endif  // OPENNAV_DOCKING__SIMPLE_CHARGING_DOCK_HPP_