behavior_server.hpp

// Copyright (c) 2018 Samsung Research America
//
// 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. Reserved.
 
 
#include <chrono>
#include <string>
#include <memory>
#include <vector>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "tf2_ros/transform_listener.hpp"
#include "tf2_ros/create_timer_ros.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_core/behavior.hpp"
 
#ifndef NAV2_BEHAVIORS__BEHAVIOR_SERVER_HPP_
#define NAV2_BEHAVIORS__BEHAVIOR_SERVER_HPP_
 
namespace behavior_server
{
 
class BehaviorServer : public nav2::LifecycleNode
{
public:
  explicit BehaviorServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~BehaviorServer();
 
protected:
  bool loadBehaviorPlugins();
 
  void configureBehaviorPlugins();
 
  void setupResourcesForBehaviorPlugins();
  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;
 
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::shared_ptr<tf2_ros::TransformListener> transform_listener_;
 
  // Plugins
  pluginlib::ClassLoader<nav2_core::Behavior> plugin_loader_;
  std::vector<pluginlib::UniquePtr<nav2_core::Behavior>> behaviors_;
  std::vector<std::string> default_ids_;
  std::vector<std::string> default_types_;
  std::vector<std::string> behavior_ids_;
  std::vector<std::string> behavior_types_;
 
  // Utilities
  std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> local_costmap_sub_;
  std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> local_footprint_sub_;
  std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> local_collision_checker_;
 
  std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> global_costmap_sub_;
  std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> global_footprint_sub_;
  std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> global_collision_checker_;
};
 
}  // namespace behavior_server
 
#endif  // NAV2_BEHAVIORS__BEHAVIOR_SERVER_HPP_