regulated_pure_pursuit_controller.hpp

// Copyright (c) 2020 Shrijit Singh
// Copyright (c) 2020 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__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "nav2_core/controller.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "std_msgs/msg/bool.hpp"
#include "nav2_regulated_pure_pursuit_controller/path_handler.hpp"
#include "nav2_regulated_pure_pursuit_controller/collision_checker.hpp"
#include "nav2_regulated_pure_pursuit_controller/parameter_handler.hpp"
#include "nav2_regulated_pure_pursuit_controller/regulation_functions.hpp"
 
namespace nav2_regulated_pure_pursuit_controller
{
 
class RegulatedPurePursuitController : public nav2_core::Controller
{
public:
  RegulatedPurePursuitController() = default;
 
  ~RegulatedPurePursuitController() override = default;
 
  void configure(
    const nav2::LifecycleNode::WeakPtr & parent,
    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity,
    nav2_core::GoalChecker * /*goal_checker*/) override;
 
  bool cancel() override;
 
  void setPlan(const nav_msgs::msg::Path & path) override;
 
  void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
 
  void reset() override;
 
protected:
  double getLookAheadDistance(const geometry_msgs::msg::Twist &);
 
  std::unique_ptr<geometry_msgs::msg::PointStamped> createCarrotMsg(
    const geometry_msgs::msg::PoseStamped & carrot_pose);
 
  bool shouldRotateToPath(
    const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path,
    double & x_vel_sign);
 
  bool shouldRotateToGoalHeading(const geometry_msgs::msg::PoseStamped & carrot_pose);
 
  void rotateToHeading(
    double & linear_vel, double & angular_vel,
    const double & angle_to_path, const geometry_msgs::msg::Twist & curr_speed);
 
  void applyConstraints(
    const double & curvature, const geometry_msgs::msg::Twist & speed,
    const double & pose_cost, const nav_msgs::msg::Path & path,
    double & linear_vel, double & sign);
 
  static geometry_msgs::msg::Point circleSegmentIntersection(
    const geometry_msgs::msg::Point & p1,
    const geometry_msgs::msg::Point & p2,
    double r);
 
  geometry_msgs::msg::PoseStamped getLookAheadPoint(
    const double &, const nav_msgs::msg::Path &,
    bool interpolate_after_goal = false);
 
  double findVelocitySignChange(const nav_msgs::msg::Path & transformed_plan);
 
  nav2::LifecycleNode::WeakPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  std::string plugin_name_;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  nav2_costmap_2d::Costmap2D * costmap_;
  rclcpp::Logger logger_ {rclcpp::get_logger("RegulatedPurePursuitController")};
 
  Parameters * params_;
  double goal_dist_tol_;
  double control_duration_;
  bool cancelling_ = false;
  bool finished_cancelling_ = false;
  bool is_rotating_to_heading_ = false;
  bool has_reached_xy_tolerance_ = false;
 
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr global_path_pub_;
  nav2::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr carrot_pub_;
  nav2::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr curvature_carrot_pub_;
  nav2::Publisher<std_msgs::msg::Bool>::SharedPtr is_rotating_to_heading_pub_;
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr carrot_arc_pub_;
  std::unique_ptr<nav2_regulated_pure_pursuit_controller::PathHandler> path_handler_;
  std::unique_ptr<nav2_regulated_pure_pursuit_controller::ParameterHandler> param_handler_;
  std::unique_ptr<nav2_regulated_pure_pursuit_controller::CollisionChecker> collision_checker_;
};
 
}  // namespace nav2_regulated_pure_pursuit_controller
 
#endif  // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_