distance_traveled_condition.cpp

// Copyright (c) 2019 Intel Corporation
// Copyright (c) 2020 Sarthak Mittal
//
// 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.
 
#include <string>
#include <memory>
 
#include "nav2_util/robot_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
#include "nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp"
 
namespace nav2_behavior_tree
{
 
DistanceTraveledCondition::DistanceTraveledCondition(
  const std::string & condition_name,
  const BT::NodeConfiguration & conf)
: BT::ConditionNode(condition_name, conf),
  distance_(1.0),
  transform_tolerance_(0.1)
{
}
 
void DistanceTraveledCondition::initialize()
{
  getInput("distance", distance_);
 
  node_ = config().blackboard->get<nav2::LifecycleNode::SharedPtr>("node");
  clock_ = node_->get_clock();
  tf_ = config().blackboard->get<nav2::TransformBuffer::SharedPtr>("tf_buffer");
  node_->get_parameter("transform_tolerance", transform_tolerance_);
  transform_staleness_threshold_ = node_->declare_or_get_parameter(
    "transform_staleness_threshold", 0.0);
 
  global_frame_ = BT::deconflictPortAndParamFrame<std::string>(
    node_, "global_frame", this);
  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string>(
    node_, "robot_base_frame", this);
}
 
BT::NodeStatus DistanceTraveledCondition::tick()
{
  if (!BT::isStatusActive(status())) {
    initialize();
    if (!nav2_util::getFreshPose(
        *tf_, global_frame_, robot_base_frame_, clock_->now(), transform_staleness_threshold_,
        start_pose_))
    {
      RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
    }
    return BT::NodeStatus::FAILURE;
  }
 
  // Determine distance travelled since we've started this iteration
  geometry_msgs::msg::PoseStamped current_pose;
  if (!nav2_util::getFreshPose(
      *tf_, global_frame_, robot_base_frame_, clock_->now(), transform_staleness_threshold_,
      current_pose))
  {
    RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
    return BT::NodeStatus::FAILURE;
  }
 
  // Get euclidean distance
  auto travelled = nav2_util::geometry_utils::euclidean_distance(
    start_pose_.pose, current_pose.pose);
 
  if (travelled < distance_) {
    return BT::NodeStatus::FAILURE;
  }
 
  // Update start pose
  start_pose_ = current_pose;
 
  return BT::NodeStatus::SUCCESS;
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  factory.registerNodeType<nav2_behavior_tree::DistanceTraveledCondition>("DistanceTraveled");
}