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 +1,119 @@
+// Copyright (c) 2019 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.
+
+#include "nav2_controller/plugins/simple_progress_checker.hpp"
+#include <cmath>
+#include <string>
+#include <memory>
+#include <vector>
+#include "nav2_core/exceptions.hpp"
+#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 SimpleProgressChecker::initialize(
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const std::string & plugin_name)
+{
+  plugin_name_ = plugin_name;
+  auto node = parent.lock();
+
+  clock_ = node->get_clock();
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, plugin_name + ".required_movement_radius", rclcpp::ParameterValue(0.5));
+  nav2_util::declare_parameter_if_not_declared(
+    node, plugin_name + ".movement_time_allowance", rclcpp::ParameterValue(10.0));
+  // Scale is set to 0 by default, so if it was not set otherwise, set to 0
+  node->get_parameter_or(plugin_name + ".required_movement_radius", radius_, 0.5);
+  double time_allowance_param = 0.0;
+  node->get_parameter_or(plugin_name + ".movement_time_allowance", time_allowance_param, 10.0);
+  time_allowance_ = rclcpp::Duration::from_seconds(time_allowance_param);
+
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&SimpleProgressChecker::dynamicParametersCallback, this, _1));
+}
+
+bool SimpleProgressChecker::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_) || (isRobotMovedEnough(current_pose2d))) {
+    resetBaselinePose(current_pose2d);
+    return true;
+  }
+  return !((clock_->now() - baseline_time_) > time_allowance_);
+}
+
+void SimpleProgressChecker::reset()
+{
+  baseline_pose_set_ = false;
+}
+
+void SimpleProgressChecker::resetBaselinePose(const geometry_msgs::msg::Pose2D & pose)
+{
+  baseline_pose_ = pose;
+  baseline_time_ = clock_->now();
+  baseline_pose_set_ = true;
+}
+
+bool SimpleProgressChecker::isRobotMovedEnough(const geometry_msgs::msg::Pose2D & pose)
+{
+  return pose_distance(pose, baseline_pose_) > radius_;
+}
+
+double SimpleProgressChecker::pose_distance(
+  const geometry_msgs::msg::Pose2D & pose1,
+  const geometry_msgs::msg::Pose2D & pose2)
+{
+  double dx = pose1.x - pose2.x;
+  double dy = pose1.y - pose2.y;
+
+  return std::hypot(dx, dy);
+}
+
+rcl_interfaces::msg::SetParametersResult
+SimpleProgressChecker::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_radius") {
+        radius_ = parameter.as_double();
+      } else if (name == plugin_name_ + ".movement_time_allowance") {
+        time_allowance_ = rclcpp::Duration::from_seconds(parameter.as_double());
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
+}  // namespace nav2_controller
+
+PLUGINLIB_EXPORT_CLASS(nav2_controller::SimpleProgressChecker, nav2_core::ProgressChecker)