kinematic_parameters.cpp

/*
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#include "dwb_plugins/kinematic_parameters.hpp"
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_ros_common/node_utils.hpp"
#include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
 
using nav2::declare_parameter_if_not_declared;
using rcl_interfaces::msg::ParameterType;
using std::placeholders::_1;
 
namespace dwb_plugins
{
 
KinematicsHandler::KinematicsHandler()
{
  kinematics_.store(new KinematicParameters);
}
 
KinematicsHandler::~KinematicsHandler()
{
  delete kinematics_.load();
}
 
void KinematicsHandler::initialize(
  const nav2::LifecycleNode::SharedPtr & nh,
  const std::string & plugin_name)
{
  node_ = nh;
  plugin_name_ = plugin_name;
  logger_ = nh->get_logger();
 
  declare_parameter_if_not_declared(nh, plugin_name + ".min_vel_x", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".min_vel_y", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".max_vel_x", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".max_vel_y", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(
    nh, plugin_name + ".max_vel_theta",
    rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(
    nh, plugin_name + ".min_speed_xy",
    rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(
    nh, plugin_name + ".max_speed_xy",
    rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(
    nh, plugin_name + ".min_speed_theta",
    rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".acc_lim_x", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".acc_lim_y", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(
    nh, plugin_name + ".acc_lim_theta",
    rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".decel_lim_x", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(nh, plugin_name + ".decel_lim_y", rclcpp::ParameterValue(0.0));
  declare_parameter_if_not_declared(
    nh, plugin_name + ".decel_lim_theta",
    rclcpp::ParameterValue(0.0));
 
  KinematicParameters kinematics;
 
  nh->get_parameter(plugin_name + ".min_vel_x", kinematics.min_vel_x_);
  nh->get_parameter(plugin_name + ".min_vel_y", kinematics.min_vel_y_);
  nh->get_parameter(plugin_name + ".max_vel_x", kinematics.max_vel_x_);
  nh->get_parameter(plugin_name + ".max_vel_y", kinematics.max_vel_y_);
  nh->get_parameter(plugin_name + ".max_vel_theta", kinematics.max_vel_theta_);
  nh->get_parameter(plugin_name + ".min_speed_xy", kinematics.min_speed_xy_);
  nh->get_parameter(plugin_name + ".max_speed_xy", kinematics.max_speed_xy_);
  nh->get_parameter(plugin_name + ".min_speed_theta", kinematics.min_speed_theta_);
  nh->get_parameter(plugin_name + ".acc_lim_x", kinematics.acc_lim_x_);
  nh->get_parameter(plugin_name + ".acc_lim_y", kinematics.acc_lim_y_);
  nh->get_parameter(plugin_name + ".acc_lim_theta", kinematics.acc_lim_theta_);
  nh->get_parameter(plugin_name + ".decel_lim_x", kinematics.decel_lim_x_);
  nh->get_parameter(plugin_name + ".decel_lim_y", kinematics.decel_lim_y_);
  nh->get_parameter(plugin_name + ".decel_lim_theta", kinematics.decel_lim_theta_);
 
  kinematics.base_max_vel_x_ = kinematics.max_vel_x_;
  kinematics.base_max_vel_y_ = kinematics.max_vel_y_;
  kinematics.base_max_speed_xy_ = kinematics.max_speed_xy_;
  kinematics.base_max_vel_theta_ = kinematics.max_vel_theta_;
 
  kinematics.min_speed_xy_sq_ = kinematics.min_speed_xy_ * kinematics.min_speed_xy_;
  kinematics.max_speed_xy_sq_ = kinematics.max_speed_xy_ * kinematics.max_speed_xy_;
 
  update_kinematics(kinematics);
}
 
void KinematicsHandler::activate()
{
  auto node = node_.lock();
  // Add callback for dynamic parameters
  post_set_params_handler_ = node->add_post_set_parameters_callback(
    std::bind(
      &KinematicsHandler::updateParametersCallback,
      this, std::placeholders::_1));
  on_set_params_handler_ = node->add_on_set_parameters_callback(
    std::bind(
      &KinematicsHandler::validateParameterUpdatesCallback,
      this, std::placeholders::_1));
}
 
void KinematicsHandler::deactivate()
{
  auto node = node_.lock();
  if (post_set_params_handler_ && node) {
    node->remove_post_set_parameters_callback(post_set_params_handler_.get());
  }
  post_set_params_handler_.reset();
  if (on_set_params_handler_ && node) {
    node->remove_on_set_parameters_callback(on_set_params_handler_.get());
  }
  on_set_params_handler_.reset();
}
 
void KinematicsHandler::setSpeedLimit(
  const double & speed_limit, const bool & percentage)
{
  KinematicParameters kinematics(*kinematics_.load());
 
  if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) {
    // Restore default value
    kinematics.max_speed_xy_ = kinematics.base_max_speed_xy_;
    kinematics.max_vel_x_ = kinematics.base_max_vel_x_;
    kinematics.max_vel_y_ = kinematics.base_max_vel_y_;
    kinematics.max_vel_theta_ = kinematics.base_max_vel_theta_;
  } else {
    if (percentage) {
      // Speed limit is expressed in % from maximum speed of robot
      kinematics.max_speed_xy_ = kinematics.base_max_speed_xy_ * speed_limit / 100.0;
      kinematics.max_vel_x_ = kinematics.base_max_vel_x_ * speed_limit / 100.0;
      kinematics.max_vel_y_ = kinematics.base_max_vel_y_ * speed_limit / 100.0;
      kinematics.max_vel_theta_ = kinematics.base_max_vel_theta_ * speed_limit / 100.0;
    } else {
      // Speed limit is expressed in absolute value
      if (speed_limit < kinematics.base_max_speed_xy_) {
        kinematics.max_speed_xy_ = speed_limit;
        // Handling components and angular velocity changes:
        // Max velocities are being changed in the same proportion
        // as absolute linear speed changed in order to preserve
        // robot moving trajectories to be the same after speed change.
        const double ratio = speed_limit / kinematics.base_max_speed_xy_;
        kinematics.max_vel_x_ = kinematics.base_max_vel_x_ * ratio;
        kinematics.max_vel_y_ = kinematics.base_max_vel_y_ * ratio;
        kinematics.max_vel_theta_ = kinematics.base_max_vel_theta_ * ratio;
      }
    }
  }
 
  // Do not forget to update max_speed_xy_sq_ as well
  kinematics.max_speed_xy_sq_ = kinematics.max_speed_xy_ * kinematics.max_speed_xy_;
 
  update_kinematics(kinematics);
}
 
rcl_interfaces::msg::SetParametersResult KinematicsHandler::validateParameterUpdatesCallback(
  std::vector<rclcpp::Parameter> parameters)
{
  rcl_interfaces::msg::SetParametersResult result;
  result.successful = true;
  for (auto parameter : parameters) {
    const auto & param_type = parameter.get_type();
    const auto & param_name = parameter.get_name();
    if (param_name.find(plugin_name_ + ".") != 0) {
      continue;
    }
    if (param_type == ParameterType::PARAMETER_DOUBLE) {
      if (parameter.as_double() < 0.0 &&
        (param_name == plugin_name_ + ".max_vel_x" || param_name == plugin_name_ + ".max_vel_y" ||
        param_name == plugin_name_ + ".max_vel_theta" ||
        param_name == plugin_name_ + ".max_speed_xy" ||
        param_name == plugin_name_ + ".acc_lim_x" || param_name == plugin_name_ + ".acc_lim_y" ||
        param_name == plugin_name_ + ".acc_lim_theta"))
      {
        RCLCPP_WARN(
        logger_, "The value of parameter '%s' is incorrectly set to %f, "
        "it should be >= 0. Ignoring parameter update.",
        param_name.c_str(), parameter.as_double());
        result.successful = false;
      } else if (parameter.as_double() > 0.0 && // NOLINT
        (param_name == plugin_name_ + ".decel_lim_x" ||
        param_name == plugin_name_ + ".decel_lim_y" ||
        param_name == plugin_name_ + ".decel_lim_theta"))
      {
        RCLCPP_WARN(
        logger_, "The value of parameter '%s' is incorrectly set to %f, "
        "it should be <= 0. Ignoring parameter update.",
        param_name.c_str(), parameter.as_double());
        result.successful = false;
      }
    }
  }
  return result;
}
 
void
KinematicsHandler::updateParametersCallback(std::vector<rclcpp::Parameter> parameters)
{
  rcl_interfaces::msg::SetParametersResult result;
  KinematicParameters kinematics(*kinematics_.load());
 
  for (auto parameter : parameters) {
    const auto & param_type = parameter.get_type();
    const auto & param_name = parameter.get_name();
    if (param_name.find(plugin_name_ + ".") != 0) {
      continue;
    }
 
    if (param_type == ParameterType::PARAMETER_DOUBLE) {
      if (param_name == plugin_name_ + ".min_vel_x") {
        kinematics.min_vel_x_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".min_vel_y") {
        kinematics.min_vel_y_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".max_vel_x") {
        kinematics.max_vel_x_ = parameter.as_double();
        kinematics.base_max_vel_x_ = kinematics.max_vel_x_;
      } else if (param_name == plugin_name_ + ".max_vel_y") {
        kinematics.max_vel_y_ = parameter.as_double();
        kinematics.base_max_vel_y_ = kinematics.max_vel_y_;
      } else if (param_name == plugin_name_ + ".max_vel_theta") {
        kinematics.max_vel_theta_ = parameter.as_double();
        kinematics.base_max_vel_theta_ = kinematics.max_vel_theta_;
      } else if (param_name == plugin_name_ + ".min_speed_xy") {
        kinematics.min_speed_xy_ = parameter.as_double();
        kinematics.min_speed_xy_sq_ = kinematics.min_speed_xy_ * kinematics.min_speed_xy_;
      } else if (param_name == plugin_name_ + ".max_speed_xy") {
        kinematics.max_speed_xy_ = parameter.as_double();
        kinematics.base_max_speed_xy_ = kinematics.max_speed_xy_;
      } else if (param_name == plugin_name_ + ".min_speed_theta") {
        kinematics.min_speed_theta_ = parameter.as_double();
        kinematics.max_speed_xy_sq_ = kinematics.max_speed_xy_ * kinematics.max_speed_xy_;
      } else if (param_name == plugin_name_ + ".acc_lim_x") {
        kinematics.acc_lim_x_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".acc_lim_y") {
        kinematics.acc_lim_y_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".acc_lim_theta") {
        kinematics.acc_lim_theta_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".decel_lim_x") {
        kinematics.decel_lim_x_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".decel_lim_y") {
        kinematics.decel_lim_y_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".decel_lim_theta") {
        kinematics.decel_lim_theta_ = parameter.as_double();
      }
    }
  }
  update_kinematics(kinematics);
}
 
void KinematicsHandler::update_kinematics(KinematicParameters kinematics)
{
  delete kinematics_.load();
  kinematics_.store(new KinematicParameters(kinematics));
}
 
}  // namespace dwb_plugins