velocity_smoother.hpp

// Copyright (c) 2022 Samsung Research
//
// 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_VELOCITY_SMOOTHER__VELOCITY_SMOOTHER_HPP_
#define NAV2_VELOCITY_SMOOTHER__VELOCITY_SMOOTHER_HPP_
 
#include <chrono>
#include <limits>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/twist_publisher.hpp"
#include "nav2_util/twist_subscriber.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
 
namespace nav2_velocity_smoother
{
 
class VelocitySmoother : public nav2::LifecycleNode
{
public:
  explicit VelocitySmoother(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  ~VelocitySmoother();
 
  double findEtaConstraint(
    const double v_curr, const double v_cmd,
    const double accel, const double decel);
 
  double applyConstraints(
    const double v_curr, const double v_cmd,
    const double accel, const double decel, const double eta);
 
protected:
  nav2::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
 
  nav2::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
 
  nav2::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
 
  nav2::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
 
  nav2::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
  void inputCommandCallback(const geometry_msgs::msg::Twist::ConstSharedPtr & msg);
  void inputCommandStampedCallback(const geometry_msgs::msg::TwistStamped::ConstSharedPtr & msg);
 
  void smootherTimer();
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  // Network interfaces
  std::unique_ptr<nav2_util::OdomSmoother> odom_smoother_;
  std::unique_ptr<nav2_util::TwistPublisher> smoothed_cmd_pub_;
  std::unique_ptr<nav2_util::TwistSubscriber> cmd_sub_;
  rclcpp::TimerBase::SharedPtr timer_;
 
  rclcpp::Clock::SharedPtr clock_;
  geometry_msgs::msg::TwistStamped last_cmd_;
  geometry_msgs::msg::TwistStamped command_;
 
  // Parameters
  double smoothing_frequency_;
  double odom_duration_;
  std::string odom_topic_;
  bool open_loop_;
  bool stopped_{true};
  bool scale_velocities_;
  bool is_6dof_;
  bool received_first_command_;
  std::vector<double> max_velocities_;
  std::vector<double> min_velocities_;
  std::vector<double> max_accels_;
  std::vector<double> max_decels_;
  std::vector<double> deadband_velocities_;
  rclcpp::Duration velocity_timeout_{0, 0};
  rclcpp::Time last_command_time_;
 
  std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
};
 
}  // namespace nav2_velocity_smoother
 
#endif  // NAV2_VELOCITY_SMOOTHER__VELOCITY_SMOOTHER_HPP_