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 +1,147 @@
+// Copyright (c) 2025 Prabhav Saxena
+//
+// 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 <memory>
+#include <string>
+#include <limits>
+#include "nav2_controller/plugins/position_goal_checker.hpp"
+#include "pluginlib/class_list_macros.hpp"
+#include "nav2_util/node_utils.hpp"
+
+using rcl_interfaces::msg::ParameterType;
+using std::placeholders::_1;
+
+namespace nav2_controller
+{
+
+PositionGoalChecker::PositionGoalChecker()
+: xy_goal_tolerance_(0.25),
+  xy_goal_tolerance_sq_(0.0625),
+  stateful_(true),
+  position_reached_(false)
+{
+}
+
+void PositionGoalChecker::initialize(
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const std::string & plugin_name,
+  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS>/*costmap_ros*/)
+{
+  plugin_name_ = plugin_name;
+  auto node = parent.lock();
+
+  nav2_util::declare_parameter_if_not_declared(
+    node,
+    plugin_name + ".xy_goal_tolerance", rclcpp::ParameterValue(0.25));
+  nav2_util::declare_parameter_if_not_declared(
+    node,
+    plugin_name + ".stateful", rclcpp::ParameterValue(true));
+
+  node->get_parameter(plugin_name + ".xy_goal_tolerance", xy_goal_tolerance_);
+  node->get_parameter(plugin_name + ".stateful", stateful_);
+
+  xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
+
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&PositionGoalChecker::dynamicParametersCallback, this, _1));
+}
+
+void PositionGoalChecker::reset()
+{
+  position_reached_ = false;
+}
+
+bool PositionGoalChecker::isGoalReached(
+  const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
+  const geometry_msgs::msg::Twist &)
+{
+  // If stateful and position was already reached, maintain state
+  if (stateful_ && position_reached_) {
+    return true;
+  }
+
+  // Check if position is within tolerance
+  double dx = query_pose.position.x - goal_pose.position.x;
+  double dy = query_pose.position.y - goal_pose.position.y;
+
+  bool position_reached = (dx * dx + dy * dy <= xy_goal_tolerance_sq_);
+
+  // If stateful, remember that we reached the position
+  if (stateful_ && position_reached) {
+    position_reached_ = true;
+  }
+
+  return position_reached;
+}
+
+bool PositionGoalChecker::getTolerances(
+  geometry_msgs::msg::Pose & pose_tolerance,
+  geometry_msgs::msg::Twist & vel_tolerance)
+{
+  double invalid_field = std::numeric_limits<double>::lowest();
+
+  pose_tolerance.position.x = xy_goal_tolerance_;
+  pose_tolerance.position.y = xy_goal_tolerance_;
+  pose_tolerance.position.z = invalid_field;
+
+  // Return zero orientation tolerance as we don't check it
+  pose_tolerance.orientation.x = 0.0;
+  pose_tolerance.orientation.y = 0.0;
+  pose_tolerance.orientation.z = 0.0;
+  pose_tolerance.orientation.w = 1.0;
+
+  vel_tolerance.linear.x = invalid_field;
+  vel_tolerance.linear.y = invalid_field;
+  vel_tolerance.linear.z = invalid_field;
+
+  vel_tolerance.angular.x = invalid_field;
+  vel_tolerance.angular.y = invalid_field;
+  vel_tolerance.angular.z = invalid_field;
+
+  return true;
+}
+
+void nav2_controller::PositionGoalChecker::setXYGoalTolerance(double tolerance)
+{
+  xy_goal_tolerance_ = tolerance;
+  xy_goal_tolerance_sq_ = tolerance * tolerance;
+}
+
+rcl_interfaces::msg::SetParametersResult
+PositionGoalChecker::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_ + ".xy_goal_tolerance") {
+        xy_goal_tolerance_ = parameter.as_double();
+        xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
+      }
+    } else if (type == ParameterType::PARAMETER_BOOL) {
+      if (name == plugin_name_ + ".stateful") {
+        stateful_ = parameter.as_bool();
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
+}  // namespace nav2_controller
+
+PLUGINLIB_EXPORT_CLASS(nav2_controller::PositionGoalChecker, nav2_core::GoalChecker)