simple_goal_checker.hpp

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#ifndef NAV2_CONTROLLER__PLUGINS__SIMPLE_GOAL_CHECKER_HPP_
#define NAV2_CONTROLLER__PLUGINS__SIMPLE_GOAL_CHECKER_HPP_
 
#include <memory>
#include <string>
#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 "rcl_interfaces/msg/set_parameters_result.hpp"
 
namespace nav2_controller
{
 
class SimpleGoalChecker : public nav2_core::GoalChecker
{
public:
  SimpleGoalChecker();
 
  ~SimpleGoalChecker();
 
  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("simple_goal_checker")};
  double xy_goal_tolerance_, xy_goal_tolerance_buffer_, yaw_goal_tolerance_, path_length_tolerance_;
  bool stateful_, check_xy_;
  bool symmetric_yaw_tolerance_;
  // Cached squared xy_goal_tolerance_ and xy_goal_tolerance_reset_
  double xy_goal_tolerance_sq_, xy_goal_tolerance_reset_sq_;
  // Dynamic parameters handler
  std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
  std::string plugin_name_;
 
  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__SIMPLE_GOAL_CHECKER_HPP_