smac_planner_hybrid.hpp

// 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. Reserved.
 
#ifndef NAV2_SMAC_PLANNER__SMAC_PLANNER_HYBRID_HPP_
#define NAV2_SMAC_PLANNER__SMAC_PLANNER_HYBRID_HPP_
 
#include <memory>
#include <vector>
#include <string>
 
#include "nav2_smac_planner/a_star.hpp"
#include "nav2_smac_planner/smoother.hpp"
#include "nav2_smac_planner/utils.hpp"
#include "nav2_smac_planner/costmap_downsampler.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav2_core/global_planner.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/pose_array.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "tf2/utils.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_smac_planner
{
 
template<typename NodeT = NodeHybrid>
class SmacPlannerHybridT : public nav2_core::GlobalPlanner
{
public:
  SmacPlannerHybridT();
 
  ~SmacPlannerHybridT();
 
  void configure(
    const nav2::LifecycleNode::WeakPtr & parent,
    std::string name, nav2::TransformBuffer::SharedPtr tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
  void cleanup() override;
 
  void activate() override;
 
  void deactivate() override;
 
  nav_msgs::msg::Path createPlan(
    const geometry_msgs::msg::PoseStamped & start,
    const geometry_msgs::msg::PoseStamped & goal,
    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
    std::function<bool()> cancel_checker)  override;
 
protected:
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  void updateSearchResolution(double resolution);
 
  std::unique_ptr<AStarAlgorithm<NodeT>> _a_star;
  GridCollisionChecker _collision_checker;
  std::unique_ptr<Smoother> _smoother;
  rclcpp::Clock::SharedPtr _clock;
  rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerHybrid")};
  nav2_costmap_2d::Costmap2D * _costmap;
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> _costmap_ros;
  std::unique_ptr<CostmapDownsampler> _costmap_downsampler;
  std::string _global_frame, _name;
  float _lookup_table_dim;
  float _tolerance;
  bool _downsample_costmap;
  int _downsampling_factor;
  double _angle_bin_size;
  unsigned int _angle_quantizations;
  bool _allow_unknown;
  int _max_iterations;
  int _max_on_approach_iterations;
  int _terminal_checking_interval;
  SearchInfo _search_info;
  double _max_planning_time;
  double _lookup_table_size;
  double _search_resolution{0.0};
  double _analytic_expansion_max_length_m;
  double _minimum_turning_radius_global_coords;
  bool _debug_visualizations;
  std::string _motion_model_for_search;
  MotionModel _motion_model;
  GoalHeadingMode _goal_heading_mode;
  int _coarse_search_resolution;
  nav2::Publisher<nav_msgs::msg::Path>::SharedPtr _raw_plan_publisher;
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    _planned_footprints_publisher;
  nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    _smoothed_footprints_publisher;
  nav2::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr
    _expansions_publisher;
  std::mutex _mutex;
  nav2::LifecycleNode::WeakPtr _node;
 
  // Dynamic parameters handler
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr _post_set_params_handler;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _on_set_params_handler;
};
 
// Backward-compatible type alias
using SmacPlannerHybrid = SmacPlannerHybridT<NodeHybrid>;
 
}  // namespace nav2_smac_planner
 
#include "nav2_smac_planner/smac_planner_hybrid_impl.hpp"  // NOLINT
 
#endif  // NAV2_SMAC_PLANNER__SMAC_PLANNER_HYBRID_HPP_