speed_filter.hpp

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 * Author: Alexey Merzlyakov
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#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__SPEED_FILTER_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__SPEED_FILTER_HPP_
 
#include <memory>
#include <string>
 
#include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp"
 
#include "geometry_msgs/msg/point_stamped.hpp"
#include "nav2_msgs/msg/costmap_filter_info.hpp"
#include "nav2_msgs/msg/speed_limit.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/path_utils.hpp"
 
namespace nav2_costmap_2d
{
class SpeedFilter : public CostmapFilter
{
public:
  SpeedFilter();
 
  void initializeFilter(
    const std::string & filter_info_topic) override;
 
  void process(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j,
    const geometry_msgs::msg::Pose & pose) override;
 
  void resetFilter() override;
 
  bool isActive();
 
protected:
  void filterInfoCallback(const nav2_msgs::msg::CostmapFilterInfo::ConstSharedPtr & msg);
  void maskCallback(const nav_msgs::msg::OccupancyGrid::ConstSharedPtr & msg);
  void pathCallback(const nav_msgs::msg::Path::ConstSharedPtr & msg);
  bool getSpeedLimitAtPose(
    const geometry_msgs::msg::Pose & pose,
    double & speed_limit);
  bool getSpeedLimitFromLookahead(
    const geometry_msgs::msg::Pose & robot_pose,
    double lookahead_dist,
    double & speed_limit);
 
  nav2::Subscription<nav2_msgs::msg::CostmapFilterInfo>::SharedPtr filter_info_sub_;
  nav2::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr mask_sub_;
  nav2::Subscription<nav_msgs::msg::Path>::SharedPtr path_sub_;
 
  nav2::Publisher<nav2_msgs::msg::SpeedLimit>::SharedPtr speed_limit_pub_;
  nav2::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr lookahead_pub_;
 
  nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask_;
  nav_msgs::msg::Path::ConstSharedPtr current_path_;
 
  // Odometry for variable lookahead distance calculation
  std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_;
 
  std::string global_frame_;  // Frame of current layer (master_grid)
 
  double base_, multiplier_;
  bool percentage_;
  double speed_limit_, speed_limit_prev_;
 
  // Lookahead distance held when entering a speed zone to avoid oscillations
  double held_lookahead_dist_;
  size_t lookahead_start_idx_;  // Start index for closest pose search, cached for efficiency
  bool enable_path_lookahead_;  // Whether to enable path lookahead
  double max_decel_;       // Deceleration (m/s^2) used to size lookahead
  double min_lookahead_;   // Lower limit on lookahead distance (m)
  double max_lookahead_;   // Upper limit on lookahead distance (m)
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__SPEED_FILTER_HPP_