spin.hpp

// Copyright (c) 2018 Intel Corporation
//
// 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_BEHAVIORS__PLUGINS__SPIN_HPP_
#define NAV2_BEHAVIORS__PLUGINS__SPIN_HPP_
 
#include <chrono>
#include <string>
#include <memory>
 
#include "nav2_behaviors/timed_behavior.hpp"
#include "nav2_msgs/action/spin.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
 
namespace nav2_behaviors
{
using SpinAction = nav2_msgs::action::Spin;
 
class Spin : public TimedBehavior<SpinAction>
{
  using CostmapInfoType = nav2_core::CostmapInfoType;
 
public:
  using SpinActionGoal = SpinAction::Goal;
  using SpinActionResult = SpinAction::Result;
 
  Spin();
  ~Spin();
 
  ResultStatus onRun(const std::shared_ptr<const SpinActionGoal> command) override;
 
  void onConfigure() override;
 
  ResultStatus onCycleUpdate() override;
 
  CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}
 
protected:
  bool isCollisionFree(
    const double & distance,
    const geometry_msgs::msg::Twist & cmd_vel,
    geometry_msgs::msg::Pose & pose);
 
  SpinAction::Feedback::SharedPtr feedback_;
 
  double min_rotational_vel_;
  double max_rotational_vel_;
  double rotational_acc_lim_;
  double cmd_yaw_;
  bool cmd_disable_collision_checks_;
  double prev_yaw_;
  double relative_yaw_;
  double simulate_ahead_time_;
  rclcpp::Duration command_time_allowance_{0, 0};
  rclcpp::Time end_time_;
};
 
}  // namespace nav2_behaviors
 
#endif  // NAV2_BEHAVIORS__PLUGINS__SPIN_HPP_