route_tracker.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// 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.
 
#include <vector>
#include <string>
#include <memory>
 
#include "tf2_ros/transform_listener.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_ros_common/simple_action_server.hpp"
#include "nav2_msgs/action/compute_and_track_route.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_core/route_exceptions.hpp"
#include "nav2_route/operations_manager.hpp"
 
#ifndef NAV2_ROUTE__ROUTE_TRACKER_HPP_
#define NAV2_ROUTE__ROUTE_TRACKER_HPP_
 
namespace nav2_route
{
 
class RouteTracker
{
public:
  using ActionServerTrack = nav2::SimpleActionServer<nav2_msgs::action::ComputeAndTrackRoute>;
  using Feedback = nav2_msgs::action::ComputeAndTrackRoute::Feedback;
 
  RouteTracker() = default;
 
  ~RouteTracker() = default;
 
  void configure(
    nav2::LifecycleNode::SharedPtr node,
    std::shared_ptr<tf2_ros::Buffer> tf_buffer,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber,
    typename ActionServerTrack::SharedPtr action_server,
    const std::string & route_frame,
    const std::string & base_frame);
 
  bool nodeAchieved(
    const geometry_msgs::msg::PoseStamped & pose,
    RouteTrackingState & state,
    const Route & route);
 
  bool isStartOrEndNode(RouteTrackingState & state, const Route & route);
 
  geometry_msgs::msg::PoseStamped getRobotPose();
 
  void publishFeedback(
    const bool rereouted,
    const unsigned int next_node_id,
    const unsigned int last_node_id,
    const unsigned int edge_id,
    const std::vector<std::string> & operations);
 
  TrackerResult trackRoute(
    const Route & route, const nav_msgs::msg::Path & path,
    ReroutingState & rerouting_info);
 
protected:
  nav2_msgs::msg::Route route_msg_;
  nav_msgs::msg::Path path_;
  std::string route_frame_, base_frame_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("RouteTracker")};
  double radius_threshold_, boundary_radius_threshold_, tracker_update_rate_;
  bool aggregate_blocked_ids_;
  typename ActionServerTrack::SharedPtr action_server_;
  std::unique_ptr<OperationsManager> operations_manager_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__ROUTE_TRACKER_HPP_