robot_utils.hpp

// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2019 Steven Macenski
// Copyright (c) 2019 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_UTIL__ROBOT_UTILS_HPP_
#define NAV2_UTIL__ROBOT_UTILS_HPP_
 
#include <string>
#include <memory>
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2/time.hpp"
#include "tf2/transform_datatypes.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "rclcpp/rclcpp.hpp"
 
namespace nav2_util
{
 
bool lookupTransformWithStalenessCheck(
  nav2::TransformBuffer & tf_buffer,
  const std::string & target_frame,
  const std::string & source_frame,
  const rclcpp::Time & current_time,
  double staleness_threshold,
  geometry_msgs::msg::TransformStamped & transform);
 
geometry_msgs::msg::PoseStamped transformToPoseStamped(
  const geometry_msgs::msg::TransformStamped & transform);
 
geometry_msgs::msg::TransformStamped poseToTransformStamped(
  const geometry_msgs::msg::PoseStamped & pose, const std::string & child_frame);
 
bool getFreshPose(
  nav2::TransformBuffer & tf_buffer,
  const std::string & target_frame,
  const std::string & source_frame,
  const rclcpp::Time & current_time,
  double staleness_threshold,
  geometry_msgs::msg::PoseStamped & pose);
 
bool getCurrentPose(
  geometry_msgs::msg::PoseStamped & global_pose,
  nav2::TransformBuffer & tf_buffer, const std::string global_frame = "map",
  const std::string robot_frame = "base_link", const double transform_timeout = 0.1,
  const rclcpp::Time stamp = rclcpp::Time());
 
bool transformPoseInTargetFrame(
  const geometry_msgs::msg::PoseStamped & input_pose,
  geometry_msgs::msg::PoseStamped & transformed_pose,
  nav2::TransformBuffer & tf_buffer, const std::string target_frame,
  const double transform_timeout = 0.1);
 
bool getTransform(
  const std::string & source_frame_id,
  const std::string & target_frame_id,
  const tf2::Duration & transform_tolerance,
  const nav2::TransformBuffer::SharedPtr tf_buffer,
  tf2::Transform & tf2_transform);
 
bool getTransform(
  const std::string & source_frame_id,
  const rclcpp::Time & source_time,
  const std::string & target_frame_id,
  const rclcpp::Time & target_time,
  const std::string & fixed_frame_id,
  const tf2::Duration & transform_tolerance,
  const nav2::TransformBuffer::SharedPtr tf_buffer,
  tf2::Transform & tf2_transform);
 
bool getTransform(
  const std::string & source_frame_id,
  const std::string & target_frame_id,
  const tf2::Duration & transform_tolerance,
  const nav2::TransformBuffer::SharedPtr tf_buffer,
  geometry_msgs::msg::TransformStamped & transform_msg);
 
bool getTransform(
  const std::string & source_frame_id,
  const rclcpp::Time & source_time,
  const std::string & target_frame_id,
  const rclcpp::Time & target_time,
  const std::string & fixed_frame_id,
  const tf2::Duration & transform_tolerance,
  const nav2::TransformBuffer::SharedPtr tf_buffer,
  geometry_msgs::msg::TransformStamped & transform_msg);
 
[[nodiscard]] bool validateTwist(const geometry_msgs::msg::Twist & msg);
 
}  // end namespace nav2_util
 
#endif  // NAV2_UTIL__ROBOT_UTILS_HPP_