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 +1,170 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <memory>
+#include <string>
+#include <limits>
+#include <vector>
+#include "nav2_controller/plugins/simple_goal_checker.hpp"
+#include "pluginlib/class_list_macros.hpp"
+#include "angles/angles.h"
+#include "nav2_util/node_utils.hpp"
+#include "nav2_util/geometry_utils.hpp"
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#include "tf2/utils.h"
+#pragma GCC diagnostic pop
+
+using rcl_interfaces::msg::ParameterType;
+using std::placeholders::_1;
+
+namespace nav2_controller
+{
+
+SimpleGoalChecker::SimpleGoalChecker()
+: xy_goal_tolerance_(0.25),
+  yaw_goal_tolerance_(0.25),
+  stateful_(true),
+  check_xy_(true),
+  xy_goal_tolerance_sq_(0.0625)
+{
+}
+
+void SimpleGoalChecker::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 + ".yaw_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 + ".yaw_goal_tolerance", yaw_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(&SimpleGoalChecker::dynamicParametersCallback, this, _1));
+}
+
+void SimpleGoalChecker::reset()
+{
+  check_xy_ = true;
+}
+
+bool SimpleGoalChecker::isGoalReached(
+  const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
+  const geometry_msgs::msg::Twist &)
+{
+  if (check_xy_) {
+    double dx = query_pose.position.x - goal_pose.position.x,
+      dy = query_pose.position.y - goal_pose.position.y;
+    if (dx * dx + dy * dy > xy_goal_tolerance_sq_) {
+      return false;
+    }
+    // We are within the window
+    // If we are stateful, change the state.
+    if (stateful_) {
+      check_xy_ = false;
+    }
+  }
+  double dyaw = angles::shortest_angular_distance(
+    tf2::getYaw(query_pose.orientation),
+    tf2::getYaw(goal_pose.orientation));
+  return fabs(dyaw) < yaw_goal_tolerance_;
+}
+
+bool SimpleGoalChecker::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;
+  pose_tolerance.orientation =
+    nav2_util::geometry_utils::orientationAroundZAxis(yaw_goal_tolerance_);
+
+  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;
+}
+
+rcl_interfaces::msg::SetParametersResult
+SimpleGoalChecker::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 (name == plugin_name_ + ".yaw_goal_tolerance") {
+        yaw_goal_tolerance_ = parameter.as_double();
+      }
+    } 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::SimpleGoalChecker, nav2_core::GoalChecker)