add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,97 @@
+// Copyright (c) 2023 Dexory
+//
+// 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 "nav2_controller/plugins/pose_progress_checker.hpp"
+#include <cmath>
+#include <string>
+#include <memory>
+#include <vector>
+#include "angles/angles.h"
+#include "nav_2d_utils/conversions.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/pose2_d.hpp"
+#include "nav2_util/node_utils.hpp"
+#include "pluginlib/class_list_macros.hpp"
+
+using rcl_interfaces::msg::ParameterType;
+using std::placeholders::_1;
+
+namespace nav2_controller
+{
+
+void PoseProgressChecker::initialize(
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const std::string & plugin_name)
+{
+  plugin_name_ = plugin_name;
+  SimpleProgressChecker::initialize(parent, plugin_name);
+  auto node = parent.lock();
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, plugin_name + ".required_movement_angle", rclcpp::ParameterValue(0.5));
+  node->get_parameter_or(plugin_name + ".required_movement_angle", required_movement_angle_, 0.5);
+
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&PoseProgressChecker::dynamicParametersCallback, this, _1));
+}
+
+bool PoseProgressChecker::check(geometry_msgs::msg::PoseStamped & current_pose)
+{
+  // relies on short circuit evaluation to not call is_robot_moved_enough if
+  // baseline_pose is not set.
+  geometry_msgs::msg::Pose2D current_pose2d;
+  current_pose2d = nav_2d_utils::poseToPose2D(current_pose.pose);
+
+  if (!baseline_pose_set_ || PoseProgressChecker::isRobotMovedEnough(current_pose2d)) {
+    resetBaselinePose(current_pose2d);
+    return true;
+  }
+  return clock_->now() - baseline_time_ <= time_allowance_;
+}
+
+bool PoseProgressChecker::isRobotMovedEnough(const geometry_msgs::msg::Pose2D & pose)
+{
+  return pose_distance(pose, baseline_pose_) > radius_ ||
+         poseAngleDistance(pose, baseline_pose_) > required_movement_angle_;
+}
+
+double PoseProgressChecker::poseAngleDistance(
+  const geometry_msgs::msg::Pose2D & pose1,
+  const geometry_msgs::msg::Pose2D & pose2)
+{
+  return abs(angles::shortest_angular_distance(pose1.theta, pose2.theta));
+}
+
+rcl_interfaces::msg::SetParametersResult
+PoseProgressChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  for (auto parameter : parameters) {
+    const auto & type = parameter.get_type();
+    const auto & name = parameter.get_name();
+
+    if (type == ParameterType::PARAMETER_DOUBLE) {
+      if (name == plugin_name_ + ".required_movement_angle") {
+        required_movement_angle_ = parameter.as_double();
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
+}  // namespace nav2_controller
+
+PLUGINLIB_EXPORT_CLASS(nav2_controller::PoseProgressChecker, nav2_core::ProgressChecker)