parameter_handler.hpp

// Copyright (c) 2022 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.
 
#ifndef NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__PARAMETER_HANDLER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__PARAMETER_HANDLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_ros_common/node_utils.hpp"
 
namespace nav2_regulated_pure_pursuit_controller
{
 
struct Parameters
{
  double desired_linear_vel, base_desired_linear_vel;
  double lookahead_dist;
  double rotate_to_heading_angular_vel;
  double max_lookahead_dist;
  double min_lookahead_dist;
  double lookahead_time;
  bool use_velocity_scaled_lookahead_dist;
  double min_approach_linear_velocity;
  double approach_velocity_scaling_dist;
  double max_allowed_time_to_collision_up_to_carrot;
  double min_distance_to_obstacle;
  bool use_regulated_linear_velocity_scaling;
  bool use_cost_regulated_linear_velocity_scaling;
  double cost_scaling_dist;
  double cost_scaling_gain;
  double inflation_cost_scaling_factor;
  double regulated_linear_scaling_min_radius;
  double regulated_linear_scaling_min_speed;
  bool use_fixed_curvature_lookahead;
  double curvature_lookahead_dist;
  bool use_rotate_to_heading;
  double max_angular_accel;
  bool use_cancel_deceleration;
  double cancel_deceleration;
  double rotate_to_heading_min_angle;
  bool allow_reversing;
  double max_robot_pose_search_dist;
  bool interpolate_curvature_after_goal;
  bool use_collision_detection;
  double transform_tolerance;
  bool stateful;
};
 
class ParameterHandler
{
public:
  ParameterHandler(
    nav2::LifecycleNode::SharedPtr node,
    std::string & plugin_name,
    rclcpp::Logger & logger, const double costmap_size_x);
 
  ~ParameterHandler();
 
  std::mutex & getMutex() {return mutex_;}
 
  Parameters * getParams() {return &params_;}
 
  void activate();
 
  void deactivate();
 
protected:
  nav2::LifecycleNode::WeakPtr node_;
 
  void
  updateParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
  rcl_interfaces::msg::SetParametersResult
  validateParameterUpdatesCallback(std::vector<rclcpp::Parameter> parameters);
 
  // Dynamic parameters handler
  std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
  Parameters params_;
  std::string plugin_name_;
  rclcpp::Logger logger_ {rclcpp::get_logger("RegulatedPurePursuitController")};
};
 
}  // namespace nav2_regulated_pure_pursuit_controller
 
#endif  // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__PARAMETER_HANDLER_HPP_