simple_progress_checker.hpp

// Copyright (c) 2019 Intel Corporation
//
// 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__SIMPLE_PROGRESS_CHECKER_HPP_
#define NAV2_CONTROLLER__PLUGINS__SIMPLE_PROGRESS_CHECKER_HPP_
 
#include <string>
#include <vector>
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/time.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_core/progress_checker.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/pose.hpp"
 
namespace nav2_controller
{
class SimpleProgressChecker : public nav2_core::ProgressChecker
{
public:
  SimpleProgressChecker() = default;
 
  ~SimpleProgressChecker();
 
  void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name) override;
 
  bool check(geometry_msgs::msg::PoseStamped & current_pose) override;
 
  void reset() override;
 
protected:
  bool isRobotMovedEnough(const geometry_msgs::msg::Pose & pose);
  void resetBaselinePose(const geometry_msgs::msg::Pose & pose);
 
  static double pose_distance(
    const geometry_msgs::msg::Pose &,
    const geometry_msgs::msg::Pose &);
 
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("simple_progress_checker")};
 
  double radius_;
  rclcpp::Duration time_allowance_{0, 0};
 
  geometry_msgs::msg::Pose baseline_pose_;
  rclcpp::Time baseline_time_;
 
  bool baseline_pose_set_{false};
  // 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_PROGRESS_CHECKER_HPP_