simple_goal_checker.hpp

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#ifndef NAV2_CONTROLLER__PLUGINS__SIMPLE_GOAL_CHECKER_HPP_
#define NAV2_CONTROLLER__PLUGINS__SIMPLE_GOAL_CHECKER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_core/goal_checker.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
namespace nav2_controller
{
 
class SimpleGoalChecker : public nav2_core::GoalChecker
{
public:
  SimpleGoalChecker();
  // Standard GoalChecker Interface
  void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
  void reset() override;
  bool isGoalReached(
    const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Twist & velocity) override;
  bool getTolerances(
    geometry_msgs::msg::Pose & pose_tolerance,
    geometry_msgs::msg::Twist & vel_tolerance) override;
 
protected:
  double xy_goal_tolerance_, yaw_goal_tolerance_;
  bool stateful_, check_xy_;
  // Cached squared xy_goal_tolerance_
  double xy_goal_tolerance_sq_;
  // Dynamic parameters handler
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
  std::string plugin_name_;
 
  rcl_interfaces::msg::SetParametersResult
  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
};
 
}  // namespace nav2_controller
 
#endif  // NAV2_CONTROLLER__PLUGINS__SIMPLE_GOAL_CHECKER_HPP_