is_stopped_condition.hpp

// Copyright (c) 2024 Angsa Robotics
//
// 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_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_
 
#include <string>
#include <memory>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "behaviortree_cpp/condition_node.h"
#include "behaviortree_cpp/json_export.h"
#include "nav_msgs/msg/odometry.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
#include "nav2_behavior_tree/json_utils.hpp"
 
 
using namespace std::chrono_literals; // NOLINT
 
namespace nav2_behavior_tree
{
 
class IsStoppedCondition : public BT::ConditionNode
{
public:
  IsStoppedCondition(
    const std::string & condition_name,
    const BT::NodeConfiguration & conf);
 
  IsStoppedCondition() = delete;
 
  ~IsStoppedCondition() override;
 
  BT::NodeStatus tick() override;
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<std::chrono::milliseconds>();
 
    return {
      BT::InputPort<double>("velocity_threshold", 0.01,
          "Velocity threshold below which robot is considered stopped"),
      BT::InputPort<std::chrono::milliseconds>("duration_stopped", 1000ms,
          "Duration (ms) the velocity must remain below the threshold"),
    };
  }
 
private:
  nav2::LifecycleNode::SharedPtr node_;
 
  double velocity_threshold_;
  std::chrono::milliseconds duration_stopped_;
  rclcpp::Time stopped_stamp_;
 
  std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_