path_longer_on_approach.hpp

// Copyright (c) 2022 Neobotix GmbH
//
// 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__DECORATOR__PATH_LONGER_ON_APPROACH_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__PATH_LONGER_ON_APPROACH_HPP_
 
#include <string>
#include <memory>
#include <limits>
 
#include "behaviortree_cpp/decorator_node.h"
#include "behaviortree_cpp/json_export.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
#include "nav2_behavior_tree/json_utils.hpp"
#include "rclcpp/rclcpp.hpp"
 
namespace nav2_behavior_tree
{
 
class PathLongerOnApproach : public BT::DecoratorNode
{
public:
  PathLongerOnApproach(
    const std::string & name,
    const BT::NodeConfiguration & conf);
 
  static BT::PortsList providedPorts()
  {
    // Register JSON definitions for the types used in the ports
    BT::RegisterJsonDefinition<nav_msgs::msg::Path>();
 
    return {
      BT::InputPort<nav_msgs::msg::Path>("path", "Planned Path"),
      BT::InputPort<double>(
        "prox_len", 3.0,
        "Proximity length (m) for the path to be longer on approach"),
      BT::InputPort<double>(
        "length_factor", 2.0,
        "Length multiplication factor to check if the path is significantly longer"),
    };
  }
 
  BT::NodeStatus tick() override;
 
private:
  bool isPathUpdated(
    nav_msgs::msg::Path & new_path,
    nav_msgs::msg::Path & old_path);
 
  bool isRobotInGoalProximity(
    nav_msgs::msg::Path & old_path,
    double & prox_leng);
 
  bool isNewPathLonger(
    nav_msgs::msg::Path & new_path,
    nav_msgs::msg::Path & old_path,
    double & length_factor);
 
private:
  nav_msgs::msg::Path new_path_;
  nav_msgs::msg::Path old_path_;
  double prox_len_ = std::numeric_limits<double>::max();
  double length_factor_ = std::numeric_limits<double>::max();
  nav2::LifecycleNode::SharedPtr node_;
  bool first_time_ = true;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__DECORATOR__PATH_LONGER_ON_APPROACH_HPP_