simple_goal_checker.cpp

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#include <memory>
#include <string>
#include <limits>
#include <vector>
#include "nav2_controller/plugins/simple_goal_checker.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "angles/angles.h"
#include "nav2_ros_common/node_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "tf2/utils.hpp"
 
using rcl_interfaces::msg::ParameterType;
using std::placeholders::_1;
 
namespace nav2_controller
{
 
SimpleGoalChecker::SimpleGoalChecker()
: xy_goal_tolerance_(0.25),
  xy_goal_tolerance_buffer_(0.0),
  yaw_goal_tolerance_(0.25),
  path_length_tolerance_(1.0),
  stateful_(true),
  check_xy_(true),
  symmetric_yaw_tolerance_(false),
  xy_goal_tolerance_sq_(0.0625),
  xy_goal_tolerance_reset_sq_(0.0625)
{
}
 
SimpleGoalChecker::~SimpleGoalChecker()
{
  auto node = node_.lock();
  if (post_set_params_handler_ && node) {
    node->remove_post_set_parameters_callback(post_set_params_handler_.get());
  }
  post_set_params_handler_.reset();
  if (on_set_params_handler_ && node) {
    node->remove_on_set_parameters_callback(on_set_params_handler_.get());
  }
  on_set_params_handler_.reset();
}
 
void SimpleGoalChecker::initialize(
  const nav2::LifecycleNode::WeakPtr & parent,
  const std::string & plugin_name,
  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS>/*costmap_ros*/)
{
  plugin_name_ = plugin_name;
  node_ = parent;
  auto node = node_.lock();
  logger_ = node->get_logger();
 
  xy_goal_tolerance_ = node->declare_or_get_parameter(plugin_name + ".xy_goal_tolerance", 0.25);
  xy_goal_tolerance_buffer_ = node->declare_or_get_parameter(
    plugin_name + ".xy_goal_tolerance_buffer", 0.0);
  yaw_goal_tolerance_ = node->declare_or_get_parameter(plugin_name + ".yaw_goal_tolerance", 0.25);
  path_length_tolerance_ = node->declare_or_get_parameter(
    plugin_name + ".path_length_tolerance", 1.0);
  stateful_ = node->declare_or_get_parameter(plugin_name + ".stateful", true);
  symmetric_yaw_tolerance_ = node->declare_or_get_parameter(
    plugin_name + ".symmetric_yaw_tolerance", false);
 
  xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
  xy_goal_tolerance_reset_sq_ = (xy_goal_tolerance_ + xy_goal_tolerance_buffer_) *
    (xy_goal_tolerance_ + xy_goal_tolerance_buffer_);
 
  // Add callback for dynamic parameters
  post_set_params_handler_ = node->add_post_set_parameters_callback(
    std::bind(
      &SimpleGoalChecker::updateParametersCallback,
      this, std::placeholders::_1));
  on_set_params_handler_ = node->add_on_set_parameters_callback(
    std::bind(
      &SimpleGoalChecker::validateParameterUpdatesCallback,
      this, std::placeholders::_1));
}
 
void SimpleGoalChecker::reset()
{
  check_xy_ = true;
}
 
bool SimpleGoalChecker::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)
{
  if (!isGoalXYReached(query_pose, goal_pose, velocity, transformed_global_plan)) {
    return false;
  }
 
  std::lock_guard<std::mutex> lock_reinit(mutex_);
 
  double query_yaw = tf2::getYaw(query_pose.orientation);
  double goal_yaw = tf2::getYaw(goal_pose.orientation);
  if (symmetric_yaw_tolerance_) {
    // For symmetric robots: accept either goal orientation or goal + 180°
    double dyaw_forward = angles::shortest_angular_distance(query_yaw, goal_yaw);
    double dyaw_backward = angles::shortest_angular_distance(
      query_yaw, angles::normalize_angle(goal_yaw + M_PI));
 
    bool forward_match = fabs(dyaw_forward) <= yaw_goal_tolerance_;
    bool backward_match = fabs(dyaw_backward) <= yaw_goal_tolerance_;
 
    return forward_match || backward_match;
  } else {
    double dyaw = angles::shortest_angular_distance(query_yaw, goal_yaw);
    return fabs(dyaw) <= yaw_goal_tolerance_;
  }
}
 
bool SimpleGoalChecker::isGoalXYReached(
  const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
  const geometry_msgs::msg::Twist &, const nav_msgs::msg::Path & transformed_global_plan)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  // If the local plan length is longer than the tolerance, we skip the check
  if (nav2_util::geometry_utils::calculate_path_length(transformed_global_plan) >
    path_length_tolerance_)
  {
    return false;
  }
  if (check_xy_) {
    double dx = query_pose.position.x - goal_pose.position.x,
      dy = query_pose.position.y - goal_pose.position.y;
    if (dx * dx + dy * dy > xy_goal_tolerance_sq_) {
      return false;
    }
    // We are within the window
    // If we are stateful, change the state.
    if (stateful_) {
      check_xy_ = false;
    }
  } else if (stateful_ && xy_goal_tolerance_buffer_ > 0.0) {
    // If we are stateful and have a buffer,
    // check if we have left the buffer region to reset the state
    double dx = query_pose.position.x - goal_pose.position.x,
      dy = query_pose.position.y - goal_pose.position.y;
    if (dx * dx + dy * dy > xy_goal_tolerance_reset_sq_) {
      check_xy_ = true;
      return false;
    }
  }
 
  return true;
}
 
bool SimpleGoalChecker::getTolerances(
  geometry_msgs::msg::Pose & pose_tolerance,
  geometry_msgs::msg::Twist & vel_tolerance,
  double & path_length_tolerance)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  double invalid_field = std::numeric_limits<double>::lowest();
 
  pose_tolerance.position.x = xy_goal_tolerance_;
  pose_tolerance.position.y = xy_goal_tolerance_;
  pose_tolerance.position.z = invalid_field;
  pose_tolerance.orientation =
    nav2_util::geometry_utils::orientationAroundZAxis(yaw_goal_tolerance_);
 
  vel_tolerance.linear.x = invalid_field;
  vel_tolerance.linear.y = invalid_field;
  vel_tolerance.linear.z = invalid_field;
 
  vel_tolerance.angular.x = invalid_field;
  vel_tolerance.angular.y = invalid_field;
  vel_tolerance.angular.z = invalid_field;
 
  path_length_tolerance = path_length_tolerance_;
 
  return true;
}
 
rcl_interfaces::msg::SetParametersResult
SimpleGoalChecker::validateParameterUpdatesCallback(
  const std::vector<rclcpp::Parameter> & parameters)
{
  rcl_interfaces::msg::SetParametersResult result;
  result.successful = true;
  for (const auto & parameter : parameters) {
    const auto & param_type = parameter.get_type();
    const auto & param_name = parameter.get_name();
    if (param_name.find(plugin_name_ + ".") != 0) {
      continue;
    }
    if (param_type == ParameterType::PARAMETER_DOUBLE) {
      if (parameter.as_double() < 0.0) {
        RCLCPP_WARN(
        logger_, "The value of parameter '%s' is incorrectly set to %f, "
        "it should be >=0. Ignoring parameter update.",
        param_name.c_str(), parameter.as_double());
        result.successful = false;
      }
    }
  }
  return result;
}
 
void
SimpleGoalChecker::updateParametersCallback(
  const std::vector<rclcpp::Parameter> & parameters)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  rcl_interfaces::msg::SetParametersResult result;
  for (const auto & parameter : parameters) {
    const auto & param_type = parameter.get_type();
    const auto & param_name = parameter.get_name();
    if (param_name.find(plugin_name_ + ".") != 0) {
      continue;
    }
    if (param_type == ParameterType::PARAMETER_DOUBLE) {
      if (param_name == plugin_name_ + ".xy_goal_tolerance") {
        xy_goal_tolerance_ = parameter.as_double();
        xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
        xy_goal_tolerance_reset_sq_ = (xy_goal_tolerance_ + xy_goal_tolerance_buffer_) *
          (xy_goal_tolerance_ + xy_goal_tolerance_buffer_);
      } else if (param_name == plugin_name_ + ".xy_goal_tolerance_buffer") {
        xy_goal_tolerance_buffer_ = parameter.as_double();
        xy_goal_tolerance_reset_sq_ = (xy_goal_tolerance_ + xy_goal_tolerance_buffer_) *
          (xy_goal_tolerance_ + xy_goal_tolerance_buffer_);
      } else if (param_name == plugin_name_ + ".yaw_goal_tolerance") {
        yaw_goal_tolerance_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".path_length_tolerance") {
        path_length_tolerance_ = parameter.as_double();
      }
    } else if (param_type == ParameterType::PARAMETER_BOOL) {
      if (param_name == plugin_name_ + ".stateful") {
        stateful_ = parameter.as_bool();
      } else if (param_name == plugin_name_ + ".symmetric_yaw_tolerance") {
        symmetric_yaw_tolerance_ = parameter.as_bool();
      }
    }
  }
}
 
}  // namespace nav2_controller
 
PLUGINLIB_EXPORT_CLASS(nav2_controller::SimpleGoalChecker, nav2_core::GoalChecker)