validate_path_action.hpp

// Copyright (c) 2021 Joshua Wallace
//
// 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_BEHAVIOR_TREE__PLUGINS__ACTION__VALIDATE_PATH_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__VALIDATE_PATH_ACTION_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "behaviortree_cpp/action_node.h"
#include "behaviortree_cpp/json_export.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_msgs/srv/is_path_valid.hpp"
#include "nav2_ros_common/service_client.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
#include "nav2_behavior_tree/json_utils.hpp"
#include "nav2_behavior_tree/bt_service_node.hpp"
 
namespace nav2_behavior_tree
{
 
class ValidatePath : public BtServiceNode<nav2_msgs::srv::IsPathValid>
{
public:
  ValidatePath(
    const std::string & service_node_name,
    const BT::NodeConfiguration & conf);
 
  void on_tick() override;
 
  BT::NodeStatus on_completion(std::shared_ptr<nav2_msgs::srv::IsPathValid::Response> response)
  override;
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<nav_msgs::msg::Path>();
    BT::RegisterJsonDefinition<std::chrono::milliseconds>();
    BT::RegisterJsonDefinition<std::vector<geometry_msgs::msg::PoseStamped>>();
 
    return providedBasicPorts(
      {
        BT::InputPort<nav_msgs::msg::Path>("path", "Path to Check"),
        BT::InputPort<unsigned int>("max_cost", 254, "Maximum cost of the path"),
        BT::InputPort<bool>(
        "consider_unknown_as_obstacle", false,
        "Whether to consider unknown cost as obstacle"),
        BT::InputPort<std::string>(
        "layer_name", "",
        "Name of the costmap layer to check against (empty = full costmap)"),
        BT::InputPort<std::string>(
        "footprint", "",
        "Custom footprint specification as bracketed array of arrays, e.g., "
        "[[x1,y1],[x2,y2],...] (empty = use robot footprint)"),
        BT::InputPort<bool>(
        "stop_at_first_collision", true,
        "Whether to stop validation at first collision (true) or check all poses (false)"),
        BT::InputPort<double>(
        "max_lookahead_distance", -1.0,
        "Maximum distance ahead of the robot to validate (-1 = full path)"),
        BT::OutputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
        "collision_poses",
        "Poses in the path that are in collision")
    });
  }
 
private:
  unsigned int max_cost_;
  bool consider_unknown_as_obstacle_;
  std::string layer_name_;
  std::string footprint_;
  bool stop_at_first_collision_;
  double max_lookahead_distance_;
  nav_msgs::msg::Path path_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__VALIDATE_PATH_ACTION_HPP_