controller_server.hpp

// Copyright (c) 2019 Intel Corporation
//
// 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_CONTROLLER__CONTROLLER_SERVER_HPP_
#define NAV2_CONTROLLER__CONTROLLER_SERVER_HPP_
 
#include <memory>
#include <string>
#include <thread>
#include <unordered_map>
#include <vector>
#include <mutex>
 
#include "nav2_core/controller.hpp"
#include "nav2_core/progress_checker.hpp"
#include "nav2_core/goal_checker.hpp"
#include "nav2_core/path_handler.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "nav2_msgs/action/follow_path.hpp"
#include "nav2_msgs/msg/tracking_feedback.hpp"
#include "nav2_msgs/msg/speed_limit.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/simple_action_server.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/twist_publisher.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_controller/parameter_handler.hpp"
 
namespace nav2_controller
{
 
class ProgressChecker;
class ControllerServer : public nav2::LifecycleNode
{
public:
  using ControllerMap = std::unordered_map<std::string, nav2_core::Controller::Ptr>;
  using GoalCheckerMap = std::unordered_map<std::string, nav2_core::GoalChecker::Ptr>;
  using ProgressCheckerMap = std::unordered_map<std::string, nav2_core::ProgressChecker::Ptr>;
  using PathHandlerMap = std::unordered_map<std::string, nav2_core::PathHandler::Ptr>;
 
  explicit ControllerServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~ControllerServer();
 
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;
 
  using Action = nav2_msgs::action::FollowPath;
  using ActionServer = nav2::SimpleActionServer<Action>;
 
  bool goalReceived(std::shared_ptr<const Action::Goal> goal);
 
  // Our action server implements the FollowPath action
  typename ActionServer::SharedPtr action_server_;
 
  void computeControl();
 
  bool findControllerId(const std::string & c_name, std::string & name);
 
  bool findGoalCheckerId(const std::string & c_name, std::string & name);
 
  bool findProgressCheckerId(const std::string & c_name, std::string & name);
 
  bool findPathHandlerId(const std::string & c_name, std::string & name);
 
  void setPlannerPath(const nav_msgs::msg::Path & path);
 
  void transformedPlanAndGoal(const geometry_msgs::msg::PoseStamped & current_robot_pose);
  void computeAndPublishVelocity(const geometry_msgs::msg::PoseStamped & current_robot_pose);
  void updateGlobalPath();
  void publishVelocity(const geometry_msgs::msg::TwistStamped & velocity);
  void publishZeroVelocity();
  void onGoalExit(bool force_stop);
  double waitForCostmap();
  bool isGoalReached(const geometry_msgs::msg::PoseStamped & current_robot_pose);
  geometry_msgs::msg::PoseStamped getCurrentRobotPose();
 
  double getThresholdedVelocity(double velocity, double threshold)
  {
    return (std::abs(velocity) > threshold) ? velocity : 0.0;
  }
 
  geometry_msgs::msg::Twist getThresholdedTwist(const geometry_msgs::msg::Twist & twist)
  {
    geometry_msgs::msg::Twist twist_thresh;
    twist_thresh.linear.x = getThresholdedVelocity(twist.linear.x,
      params_->min_x_velocity_threshold);
    twist_thresh.linear.y = getThresholdedVelocity(twist.linear.y,
      params_->min_y_velocity_threshold);
    twist_thresh.angular.z = getThresholdedVelocity(twist.angular.z,
      params_->min_theta_velocity_threshold);
    return twist_thresh;
  }
 
  // The controller needs a costmap node
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::unique_ptr<nav2::NodeThread> costmap_thread_;
 
  // Publishers and subscribers
  std::unique_ptr<nav2_util::OdomSmoother> odom_sub_;
  std::unique_ptr<nav2_util::TwistPublisher> vel_publisher_;
  nav2::Subscription<nav2_msgs::msg::SpeedLimit>::SharedPtr speed_limit_sub_;
  nav2::Publisher<nav2_msgs::msg::TrackingFeedback>::SharedPtr tracking_feedback_pub_;
 
  // Progress Checker Plugin
  pluginlib::ClassLoader<nav2_core::ProgressChecker> progress_checker_loader_;
  ProgressCheckerMap progress_checkers_;
  std::string progress_checker_ids_concat_, current_progress_checker_;
 
  // Goal Checker Plugin
  pluginlib::ClassLoader<nav2_core::GoalChecker> goal_checker_loader_;
  GoalCheckerMap goal_checkers_;
  std::string goal_checker_ids_concat_, current_goal_checker_;
 
  // Controller Plugins
  pluginlib::ClassLoader<nav2_core::Controller> lp_loader_;
  ControllerMap controllers_;
  std::string controller_ids_concat_, current_controller_;
 
  // Path Handler Plugins
  pluginlib::ClassLoader<nav2_core::PathHandler> path_handler_loader_;
  PathHandlerMap path_handlers_;
  std::string path_handler_ids_concat_, current_path_handler_;
 
  size_t start_index_;
  geometry_msgs::msg::PoseStamped end_pose_;
  geometry_msgs::msg::PoseStamped transformed_end_pose_;
 
  // Last time the controller generated a valid command
  rclcpp::Time last_valid_cmd_time_;
 
  // Current path container
  nav_msgs::msg::Path current_path_;
  nav_msgs::msg::Path transformed_global_plan_;
  std::unique_ptr<nav2_controller::ParameterHandler> param_handler_;
  Parameters * params_;
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr transformed_plan_pub_;
  double transform_tolerance_;
 
private:
  void speedLimitCallback(const nav2_msgs::msg::SpeedLimit::ConstSharedPtr & msg);
};
 
}  // namespace nav2_controller
 
#endif  // NAV2_CONTROLLER__CONTROLLER_SERVER_HPP_