assisted_teleop.hpp

// Copyright (c) 2022 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_BEHAVIORS__PLUGINS__ASSISTED_TELEOP_HPP_
#define NAV2_BEHAVIORS__PLUGINS__ASSISTED_TELEOP_HPP_
 
#include <chrono>
#include <memory>
#include <string>
 
#include "geometry_msgs/msg/twist.hpp"
#include "std_msgs/msg/empty.hpp"
#include "nav2_behaviors/timed_behavior.hpp"
#include "nav2_msgs/action/assisted_teleop.hpp"
#include "nav2_util/twist_subscriber.hpp"
 
namespace nav2_behaviors
{
using AssistedTeleopAction = nav2_msgs::action::AssistedTeleop;
 
class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
{
  using CostmapInfoType = nav2_core::CostmapInfoType;
 
public:
  using AssistedTeleopActionGoal = AssistedTeleopAction::Goal;
  using AssistedTeleopActionResult = AssistedTeleopAction::Result;
  AssistedTeleop();
 
  ResultStatus onRun(const std::shared_ptr<const AssistedTeleopActionGoal> command) override;
 
  void onActionCompletion(std::shared_ptr<AssistedTeleopActionResult>/*result*/) override;
 
  ResultStatus onCycleUpdate() override;
 
  CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}
 
protected:
  void onConfigure() override;
 
  geometry_msgs::msg::Pose projectPose(
    const geometry_msgs::msg::Pose & pose,
    const geometry_msgs::msg::Twist & twist,
    double projection_time);
 
  void preemptTeleopCallback(const std_msgs::msg::Empty::ConstSharedPtr & msg);
 
  bool isTeleopCommandStale(const rclcpp::Time & now) const;
 
  AssistedTeleopAction::Feedback::SharedPtr feedback_;
 
  // parameters
  double projection_time_;
  double simulation_time_step_;
  double teleop_command_timeout_;
 
  geometry_msgs::msg::TwistStamped teleop_twist_;
  bool received_first_command_{false};
  bool preempt_teleop_{false};
 
  // subscribers
  std::unique_ptr<nav2_util::TwistSubscriber> vel_sub_;
  nav2::Subscription<std_msgs::msg::Empty>::SharedPtr preempt_teleop_sub_;
 
  rclcpp::Duration command_time_allowance_{0, 0};
  rclcpp::Time end_time_;
};
}  // namespace nav2_behaviors
 
#endif  // NAV2_BEHAVIORS__PLUGINS__ASSISTED_TELEOP_HPP_