add humble-navigation2
This commit is contained in:
X-lanni
@@ -0,0 +1,677 @@
|
||||
// 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 <chrono>
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <utility>
|
||||
#include <limits>
|
||||
|
||||
#include "lifecycle_msgs/msg/state.hpp"
|
||||
#include "nav2_core/exceptions.hpp"
|
||||
#include "nav_2d_utils/conversions.hpp"
|
||||
#include "nav_2d_utils/tf_help.hpp"
|
||||
#include "nav2_util/node_utils.hpp"
|
||||
#include "nav2_util/geometry_utils.hpp"
|
||||
#include "nav2_controller/controller_server.hpp"
|
||||
|
||||
using namespace std::chrono_literals;
|
||||
using rcl_interfaces::msg::ParameterType;
|
||||
using std::placeholders::_1;
|
||||
|
||||
namespace nav2_controller
|
||||
{
|
||||
|
||||
ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
|
||||
: nav2_util::LifecycleNode("controller_server", "", options),
|
||||
progress_checker_loader_("nav2_core", "nav2_core::ProgressChecker"),
|
||||
default_progress_checker_id_{"progress_checker"},
|
||||
default_progress_checker_type_{"nav2_controller::SimpleProgressChecker"},
|
||||
goal_checker_loader_("nav2_core", "nav2_core::GoalChecker"),
|
||||
default_goal_checker_ids_{"goal_checker"},
|
||||
default_goal_checker_types_{"nav2_controller::SimpleGoalChecker"},
|
||||
lp_loader_("nav2_core", "nav2_core::Controller"),
|
||||
default_ids_{"FollowPath"},
|
||||
default_types_{"dwb_core::DWBLocalPlanner"}
|
||||
{
|
||||
RCLCPP_INFO(get_logger(), "Creating controller server");
|
||||
|
||||
declare_parameter("controller_frequency", 20.0);
|
||||
|
||||
declare_parameter("progress_checker_plugin", default_progress_checker_id_);
|
||||
declare_parameter("goal_checker_plugins", default_goal_checker_ids_);
|
||||
declare_parameter("controller_plugins", default_ids_);
|
||||
declare_parameter("min_x_velocity_threshold", rclcpp::ParameterValue(0.0001));
|
||||
declare_parameter("min_y_velocity_threshold", rclcpp::ParameterValue(0.0001));
|
||||
declare_parameter("min_theta_velocity_threshold", rclcpp::ParameterValue(0.0001));
|
||||
|
||||
declare_parameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
|
||||
|
||||
declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0));
|
||||
|
||||
// The costmap node is used in the implementation of the controller
|
||||
costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
|
||||
"local_costmap", std::string{get_namespace()}, "local_costmap");
|
||||
}
|
||||
|
||||
ControllerServer::~ControllerServer()
|
||||
{
|
||||
progress_checker_.reset();
|
||||
goal_checkers_.clear();
|
||||
controllers_.clear();
|
||||
costmap_thread_.reset();
|
||||
}
|
||||
|
||||
nav2_util::CallbackReturn
|
||||
ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
|
||||
{
|
||||
auto node = shared_from_this();
|
||||
|
||||
RCLCPP_INFO(get_logger(), "Configuring controller interface");
|
||||
|
||||
get_parameter("progress_checker_plugin", progress_checker_id_);
|
||||
if (progress_checker_id_ == default_progress_checker_id_) {
|
||||
nav2_util::declare_parameter_if_not_declared(
|
||||
node, default_progress_checker_id_ + ".plugin",
|
||||
rclcpp::ParameterValue(default_progress_checker_type_));
|
||||
}
|
||||
|
||||
RCLCPP_INFO(get_logger(), "getting goal checker plugins..");
|
||||
get_parameter("goal_checker_plugins", goal_checker_ids_);
|
||||
if (goal_checker_ids_ == default_goal_checker_ids_) {
|
||||
for (size_t i = 0; i < default_goal_checker_ids_.size(); ++i) {
|
||||
nav2_util::declare_parameter_if_not_declared(
|
||||
node, default_goal_checker_ids_[i] + ".plugin",
|
||||
rclcpp::ParameterValue(default_goal_checker_types_[i]));
|
||||
}
|
||||
}
|
||||
|
||||
get_parameter("controller_plugins", controller_ids_);
|
||||
if (controller_ids_ == default_ids_) {
|
||||
for (size_t i = 0; i < default_ids_.size(); ++i) {
|
||||
nav2_util::declare_parameter_if_not_declared(
|
||||
node, default_ids_[i] + ".plugin",
|
||||
rclcpp::ParameterValue(default_types_[i]));
|
||||
}
|
||||
}
|
||||
|
||||
controller_types_.resize(controller_ids_.size());
|
||||
goal_checker_types_.resize(goal_checker_ids_.size());
|
||||
|
||||
get_parameter("controller_frequency", controller_frequency_);
|
||||
get_parameter("min_x_velocity_threshold", min_x_velocity_threshold_);
|
||||
get_parameter("min_y_velocity_threshold", min_y_velocity_threshold_);
|
||||
get_parameter("min_theta_velocity_threshold", min_theta_velocity_threshold_);
|
||||
RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
|
||||
|
||||
std::string speed_limit_topic;
|
||||
get_parameter("speed_limit_topic", speed_limit_topic);
|
||||
get_parameter("failure_tolerance", failure_tolerance_);
|
||||
|
||||
costmap_ros_->configure();
|
||||
// Launch a thread to run the costmap node
|
||||
costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
|
||||
|
||||
try {
|
||||
progress_checker_type_ = nav2_util::get_plugin_type_param(node, progress_checker_id_);
|
||||
progress_checker_ = progress_checker_loader_.createUniqueInstance(progress_checker_type_);
|
||||
RCLCPP_INFO(
|
||||
get_logger(), "Created progress_checker : %s of type %s",
|
||||
progress_checker_id_.c_str(), progress_checker_type_.c_str());
|
||||
progress_checker_->initialize(node, progress_checker_id_);
|
||||
} catch (const pluginlib::PluginlibException & ex) {
|
||||
RCLCPP_FATAL(
|
||||
get_logger(),
|
||||
"Failed to create progress_checker. Exception: %s", ex.what());
|
||||
return nav2_util::CallbackReturn::FAILURE;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i != goal_checker_ids_.size(); i++) {
|
||||
try {
|
||||
goal_checker_types_[i] = nav2_util::get_plugin_type_param(node, goal_checker_ids_[i]);
|
||||
nav2_core::GoalChecker::Ptr goal_checker =
|
||||
goal_checker_loader_.createUniqueInstance(goal_checker_types_[i]);
|
||||
RCLCPP_INFO(
|
||||
get_logger(), "Created goal checker : %s of type %s",
|
||||
goal_checker_ids_[i].c_str(), goal_checker_types_[i].c_str());
|
||||
goal_checker->initialize(node, goal_checker_ids_[i], costmap_ros_);
|
||||
goal_checkers_.insert({goal_checker_ids_[i], goal_checker});
|
||||
} catch (const pluginlib::PluginlibException & ex) {
|
||||
RCLCPP_FATAL(
|
||||
get_logger(),
|
||||
"Failed to create goal checker. Exception: %s", ex.what());
|
||||
return nav2_util::CallbackReturn::FAILURE;
|
||||
}
|
||||
}
|
||||
|
||||
for (size_t i = 0; i != goal_checker_ids_.size(); i++) {
|
||||
goal_checker_ids_concat_ += goal_checker_ids_[i] + std::string(" ");
|
||||
}
|
||||
|
||||
RCLCPP_INFO(
|
||||
get_logger(),
|
||||
"Controller Server has %s goal checkers available.", goal_checker_ids_concat_.c_str());
|
||||
|
||||
for (size_t i = 0; i != controller_ids_.size(); i++) {
|
||||
try {
|
||||
controller_types_[i] = nav2_util::get_plugin_type_param(node, controller_ids_[i]);
|
||||
nav2_core::Controller::Ptr controller =
|
||||
lp_loader_.createUniqueInstance(controller_types_[i]);
|
||||
RCLCPP_INFO(
|
||||
get_logger(), "Created controller : %s of type %s",
|
||||
controller_ids_[i].c_str(), controller_types_[i].c_str());
|
||||
controller->configure(
|
||||
node, controller_ids_[i],
|
||||
costmap_ros_->getTfBuffer(), costmap_ros_);
|
||||
controllers_.insert({controller_ids_[i], controller});
|
||||
} catch (const pluginlib::PluginlibException & ex) {
|
||||
RCLCPP_FATAL(
|
||||
get_logger(),
|
||||
"Failed to create controller. Exception: %s", ex.what());
|
||||
return nav2_util::CallbackReturn::FAILURE;
|
||||
}
|
||||
}
|
||||
|
||||
for (size_t i = 0; i != controller_ids_.size(); i++) {
|
||||
controller_ids_concat_ += controller_ids_[i] + std::string(" ");
|
||||
}
|
||||
|
||||
RCLCPP_INFO(
|
||||
get_logger(),
|
||||
"Controller Server has %s controllers available.", controller_ids_concat_.c_str());
|
||||
|
||||
odom_sub_ = std::make_unique<nav_2d_utils::OdomSubscriber>(node);
|
||||
vel_publisher_ = create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
|
||||
|
||||
// Create the action server that we implement with our followPath method
|
||||
action_server_ = std::make_unique<ActionServer>(
|
||||
shared_from_this(),
|
||||
"follow_path",
|
||||
std::bind(&ControllerServer::computeControl, this),
|
||||
nullptr,
|
||||
std::chrono::milliseconds(500),
|
||||
true);
|
||||
|
||||
// Set subscribtion to the speed limiting topic
|
||||
speed_limit_sub_ = create_subscription<nav2_msgs::msg::SpeedLimit>(
|
||||
speed_limit_topic, rclcpp::QoS(10),
|
||||
std::bind(&ControllerServer::speedLimitCallback, this, std::placeholders::_1));
|
||||
|
||||
return nav2_util::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
nav2_util::CallbackReturn
|
||||
ControllerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
|
||||
{
|
||||
RCLCPP_INFO(get_logger(), "Activating");
|
||||
|
||||
costmap_ros_->activate();
|
||||
ControllerMap::iterator it;
|
||||
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
|
||||
it->second->activate();
|
||||
}
|
||||
vel_publisher_->on_activate();
|
||||
action_server_->activate();
|
||||
|
||||
auto node = shared_from_this();
|
||||
// Add callback for dynamic parameters
|
||||
dyn_params_handler_ = node->add_on_set_parameters_callback(
|
||||
std::bind(&ControllerServer::dynamicParametersCallback, this, _1));
|
||||
|
||||
// create bond connection
|
||||
createBond();
|
||||
|
||||
return nav2_util::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
nav2_util::CallbackReturn
|
||||
ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
|
||||
{
|
||||
RCLCPP_INFO(get_logger(), "Deactivating");
|
||||
|
||||
action_server_->deactivate();
|
||||
ControllerMap::iterator it;
|
||||
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
|
||||
it->second->deactivate();
|
||||
}
|
||||
|
||||
/*
|
||||
* The costmap is also a lifecycle node, so it may have already fired on_deactivate
|
||||
* via rcl preshutdown cb. Despite the rclcpp docs saying on_shutdown callbacks fire
|
||||
* in the order added, the preshutdown callbacks clearly don't per se, due to using an
|
||||
* unordered_set iteration. Once this issue is resolved, we can maybe make a stronger
|
||||
* ordering assumption: https://github.com/ros2/rclcpp/issues/2096
|
||||
*/
|
||||
costmap_ros_->deactivate();
|
||||
|
||||
publishZeroVelocity();
|
||||
vel_publisher_->on_deactivate();
|
||||
dyn_params_handler_.reset();
|
||||
|
||||
// destroy bond connection
|
||||
destroyBond();
|
||||
|
||||
return nav2_util::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
nav2_util::CallbackReturn
|
||||
ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
|
||||
{
|
||||
RCLCPP_INFO(get_logger(), "Cleaning up");
|
||||
|
||||
// Cleanup the helper classes
|
||||
ControllerMap::iterator it;
|
||||
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
|
||||
it->second->cleanup();
|
||||
}
|
||||
controllers_.clear();
|
||||
|
||||
goal_checkers_.clear();
|
||||
|
||||
costmap_ros_->cleanup();
|
||||
|
||||
|
||||
// Release any allocated resources
|
||||
action_server_.reset();
|
||||
odom_sub_.reset();
|
||||
costmap_thread_.reset();
|
||||
vel_publisher_.reset();
|
||||
speed_limit_sub_.reset();
|
||||
|
||||
return nav2_util::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
nav2_util::CallbackReturn
|
||||
ControllerServer::on_shutdown(const rclcpp_lifecycle::State &)
|
||||
{
|
||||
RCLCPP_INFO(get_logger(), "Shutting down");
|
||||
return nav2_util::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
bool ControllerServer::findControllerId(
|
||||
const std::string & c_name,
|
||||
std::string & current_controller)
|
||||
{
|
||||
if (controllers_.find(c_name) == controllers_.end()) {
|
||||
if (controllers_.size() == 1 && c_name.empty()) {
|
||||
RCLCPP_WARN_ONCE(
|
||||
get_logger(), "No controller was specified in action call."
|
||||
" Server will use only plugin loaded %s. "
|
||||
"This warning will appear once.", controller_ids_concat_.c_str());
|
||||
current_controller = controllers_.begin()->first;
|
||||
} else {
|
||||
RCLCPP_ERROR(
|
||||
get_logger(), "FollowPath called with controller name %s, "
|
||||
"which does not exist. Available controllers are: %s.",
|
||||
c_name.c_str(), controller_ids_concat_.c_str());
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
RCLCPP_DEBUG(get_logger(), "Selected controller: %s.", c_name.c_str());
|
||||
current_controller = c_name;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ControllerServer::findGoalCheckerId(
|
||||
const std::string & c_name,
|
||||
std::string & current_goal_checker)
|
||||
{
|
||||
if (goal_checkers_.find(c_name) == goal_checkers_.end()) {
|
||||
if (goal_checkers_.size() == 1 && c_name.empty()) {
|
||||
RCLCPP_WARN_ONCE(
|
||||
get_logger(), "No goal checker was specified in parameter 'current_goal_checker'."
|
||||
" Server will use only plugin loaded %s. "
|
||||
"This warning will appear once.", goal_checker_ids_concat_.c_str());
|
||||
current_goal_checker = goal_checkers_.begin()->first;
|
||||
} else {
|
||||
RCLCPP_ERROR(
|
||||
get_logger(), "FollowPath called with goal_checker name %s in parameter"
|
||||
" 'current_goal_checker', which does not exist. Available goal checkers are: %s.",
|
||||
c_name.c_str(), goal_checker_ids_concat_.c_str());
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
RCLCPP_DEBUG(get_logger(), "Selected goal checker: %s.", c_name.c_str());
|
||||
current_goal_checker = c_name;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void ControllerServer::computeControl()
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(dynamic_params_lock_);
|
||||
|
||||
RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");
|
||||
|
||||
try {
|
||||
std::string c_name = action_server_->get_current_goal()->controller_id;
|
||||
std::string current_controller;
|
||||
if (findControllerId(c_name, current_controller)) {
|
||||
current_controller_ = current_controller;
|
||||
} else {
|
||||
action_server_->terminate_current();
|
||||
return;
|
||||
}
|
||||
|
||||
std::string gc_name = action_server_->get_current_goal()->goal_checker_id;
|
||||
std::string current_goal_checker;
|
||||
if (findGoalCheckerId(gc_name, current_goal_checker)) {
|
||||
current_goal_checker_ = current_goal_checker;
|
||||
} else {
|
||||
action_server_->terminate_current();
|
||||
return;
|
||||
}
|
||||
|
||||
setPlannerPath(action_server_->get_current_goal()->path);
|
||||
progress_checker_->reset();
|
||||
|
||||
last_valid_cmd_time_ = now();
|
||||
rclcpp::WallRate loop_rate(controller_frequency_);
|
||||
while (rclcpp::ok()) {
|
||||
if (action_server_ == nullptr || !action_server_->is_server_active()) {
|
||||
RCLCPP_DEBUG(get_logger(), "Action server unavailable or inactive. Stopping.");
|
||||
return;
|
||||
}
|
||||
|
||||
if (action_server_->is_cancel_requested()) {
|
||||
RCLCPP_INFO(get_logger(), "Goal was canceled. Stopping the robot.");
|
||||
action_server_->terminate_all();
|
||||
publishZeroVelocity();
|
||||
return;
|
||||
}
|
||||
|
||||
// Don't compute a trajectory until costmap is valid (after clear costmap)
|
||||
rclcpp::Rate r(100);
|
||||
while (!costmap_ros_->isCurrent()) {
|
||||
r.sleep();
|
||||
}
|
||||
|
||||
updateGlobalPath();
|
||||
|
||||
computeAndPublishVelocity();
|
||||
|
||||
if (isGoalReached()) {
|
||||
RCLCPP_INFO(get_logger(), "Reached the goal!");
|
||||
break;
|
||||
}
|
||||
|
||||
if (!loop_rate.sleep()) {
|
||||
RCLCPP_WARN(
|
||||
get_logger(), "Control loop missed its desired rate of %.4fHz",
|
||||
controller_frequency_);
|
||||
}
|
||||
}
|
||||
} catch (nav2_core::PlannerException & e) {
|
||||
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
|
||||
publishZeroVelocity();
|
||||
action_server_->terminate_current();
|
||||
return;
|
||||
} catch (std::exception & e) {
|
||||
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
|
||||
publishZeroVelocity();
|
||||
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
|
||||
action_server_->terminate_current(result);
|
||||
return;
|
||||
}
|
||||
|
||||
RCLCPP_DEBUG(get_logger(), "Controller succeeded, setting result");
|
||||
|
||||
publishZeroVelocity();
|
||||
|
||||
// TODO(orduno) #861 Handle a pending preemption and set controller name
|
||||
action_server_->succeeded_current();
|
||||
}
|
||||
|
||||
void ControllerServer::setPlannerPath(const nav_msgs::msg::Path & path)
|
||||
{
|
||||
RCLCPP_DEBUG(
|
||||
get_logger(),
|
||||
"Providing path to the controller %s", current_controller_.c_str());
|
||||
if (path.poses.empty()) {
|
||||
throw nav2_core::PlannerException("Invalid path, Path is empty.");
|
||||
}
|
||||
controllers_[current_controller_]->setPlan(path);
|
||||
|
||||
end_pose_ = path.poses.back();
|
||||
end_pose_.header.frame_id = path.header.frame_id;
|
||||
goal_checkers_[current_goal_checker_]->reset();
|
||||
|
||||
RCLCPP_DEBUG(
|
||||
get_logger(), "Path end point is (%.2f, %.2f)",
|
||||
end_pose_.pose.position.x, end_pose_.pose.position.y);
|
||||
|
||||
current_path_ = path;
|
||||
}
|
||||
|
||||
void ControllerServer::computeAndPublishVelocity()
|
||||
{
|
||||
geometry_msgs::msg::PoseStamped pose;
|
||||
|
||||
if (!getRobotPose(pose)) {
|
||||
throw nav2_core::PlannerException("Failed to obtain robot pose");
|
||||
}
|
||||
|
||||
if (!progress_checker_->check(pose)) {
|
||||
throw nav2_core::PlannerException("Failed to make progress");
|
||||
}
|
||||
|
||||
nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());
|
||||
|
||||
geometry_msgs::msg::TwistStamped cmd_vel_2d;
|
||||
|
||||
try {
|
||||
cmd_vel_2d =
|
||||
controllers_[current_controller_]->computeVelocityCommands(
|
||||
pose,
|
||||
nav_2d_utils::twist2Dto3D(twist),
|
||||
goal_checkers_[current_goal_checker_].get());
|
||||
last_valid_cmd_time_ = now();
|
||||
} catch (nav2_core::PlannerException & e) {
|
||||
if (failure_tolerance_ > 0 || failure_tolerance_ == -1.0) {
|
||||
RCLCPP_WARN(this->get_logger(), "%s", e.what());
|
||||
cmd_vel_2d.twist.angular.x = 0;
|
||||
cmd_vel_2d.twist.angular.y = 0;
|
||||
cmd_vel_2d.twist.angular.z = 0;
|
||||
cmd_vel_2d.twist.linear.x = 0;
|
||||
cmd_vel_2d.twist.linear.y = 0;
|
||||
cmd_vel_2d.twist.linear.z = 0;
|
||||
cmd_vel_2d.header.frame_id = costmap_ros_->getBaseFrameID();
|
||||
cmd_vel_2d.header.stamp = now();
|
||||
if ((now() - last_valid_cmd_time_).seconds() > failure_tolerance_ &&
|
||||
failure_tolerance_ != -1.0)
|
||||
{
|
||||
throw nav2_core::PlannerException("Controller patience exceeded");
|
||||
}
|
||||
} else {
|
||||
throw nav2_core::PlannerException(e.what());
|
||||
}
|
||||
}
|
||||
|
||||
std::shared_ptr<Action::Feedback> feedback = std::make_shared<Action::Feedback>();
|
||||
feedback->speed = std::hypot(cmd_vel_2d.twist.linear.x, cmd_vel_2d.twist.linear.y);
|
||||
|
||||
// Find the closest pose to current pose on global path
|
||||
nav_msgs::msg::Path & current_path = current_path_;
|
||||
auto find_closest_pose_idx =
|
||||
[&pose, ¤t_path]() {
|
||||
size_t closest_pose_idx = 0;
|
||||
double curr_min_dist = std::numeric_limits<double>::max();
|
||||
for (size_t curr_idx = 0; curr_idx < current_path.poses.size(); ++curr_idx) {
|
||||
double curr_dist = nav2_util::geometry_utils::euclidean_distance(
|
||||
pose, current_path.poses[curr_idx]);
|
||||
if (curr_dist < curr_min_dist) {
|
||||
curr_min_dist = curr_dist;
|
||||
closest_pose_idx = curr_idx;
|
||||
}
|
||||
}
|
||||
return closest_pose_idx;
|
||||
};
|
||||
|
||||
feedback->distance_to_goal =
|
||||
nav2_util::geometry_utils::calculate_path_length(current_path_, find_closest_pose_idx());
|
||||
action_server_->publish_feedback(feedback);
|
||||
|
||||
RCLCPP_DEBUG(get_logger(), "Publishing velocity at time %.2f", now().seconds());
|
||||
publishVelocity(cmd_vel_2d);
|
||||
}
|
||||
|
||||
void ControllerServer::updateGlobalPath()
|
||||
{
|
||||
if (action_server_->is_preempt_requested()) {
|
||||
RCLCPP_INFO(get_logger(), "Passing new path to controller.");
|
||||
auto goal = action_server_->accept_pending_goal();
|
||||
std::string current_controller;
|
||||
if (findControllerId(goal->controller_id, current_controller)) {
|
||||
current_controller_ = current_controller;
|
||||
} else {
|
||||
RCLCPP_INFO(
|
||||
get_logger(), "Terminating action, invalid controller %s requested.",
|
||||
goal->controller_id.c_str());
|
||||
action_server_->terminate_current();
|
||||
return;
|
||||
}
|
||||
std::string current_goal_checker;
|
||||
if (findGoalCheckerId(goal->goal_checker_id, current_goal_checker)) {
|
||||
current_goal_checker_ = current_goal_checker;
|
||||
} else {
|
||||
RCLCPP_INFO(
|
||||
get_logger(), "Terminating action, invalid goal checker %s requested.",
|
||||
goal->goal_checker_id.c_str());
|
||||
action_server_->terminate_current();
|
||||
return;
|
||||
}
|
||||
setPlannerPath(goal->path);
|
||||
}
|
||||
}
|
||||
|
||||
void ControllerServer::publishVelocity(const geometry_msgs::msg::TwistStamped & velocity)
|
||||
{
|
||||
auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>(velocity.twist);
|
||||
if (vel_publisher_->is_activated() && vel_publisher_->get_subscription_count() > 0) {
|
||||
vel_publisher_->publish(std::move(cmd_vel));
|
||||
}
|
||||
}
|
||||
|
||||
void ControllerServer::publishZeroVelocity()
|
||||
{
|
||||
geometry_msgs::msg::TwistStamped velocity;
|
||||
velocity.twist.angular.x = 0;
|
||||
velocity.twist.angular.y = 0;
|
||||
velocity.twist.angular.z = 0;
|
||||
velocity.twist.linear.x = 0;
|
||||
velocity.twist.linear.y = 0;
|
||||
velocity.twist.linear.z = 0;
|
||||
velocity.header.frame_id = costmap_ros_->getBaseFrameID();
|
||||
velocity.header.stamp = now();
|
||||
publishVelocity(velocity);
|
||||
}
|
||||
|
||||
bool ControllerServer::isGoalReached()
|
||||
{
|
||||
geometry_msgs::msg::PoseStamped pose;
|
||||
|
||||
if (!getRobotPose(pose)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());
|
||||
geometry_msgs::msg::Twist velocity = nav_2d_utils::twist2Dto3D(twist);
|
||||
|
||||
geometry_msgs::msg::PoseStamped transformed_end_pose;
|
||||
rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
|
||||
nav_2d_utils::transformPose(
|
||||
costmap_ros_->getTfBuffer(), costmap_ros_->getGlobalFrameID(),
|
||||
end_pose_, transformed_end_pose, tolerance);
|
||||
|
||||
return goal_checkers_[current_goal_checker_]->isGoalReached(
|
||||
pose.pose, transformed_end_pose.pose,
|
||||
velocity);
|
||||
}
|
||||
|
||||
bool ControllerServer::getRobotPose(geometry_msgs::msg::PoseStamped & pose)
|
||||
{
|
||||
geometry_msgs::msg::PoseStamped current_pose;
|
||||
if (!costmap_ros_->getRobotPose(current_pose)) {
|
||||
return false;
|
||||
}
|
||||
pose = current_pose;
|
||||
return true;
|
||||
}
|
||||
|
||||
void ControllerServer::speedLimitCallback(const nav2_msgs::msg::SpeedLimit::SharedPtr msg)
|
||||
{
|
||||
ControllerMap::iterator it;
|
||||
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
|
||||
it->second->setSpeedLimit(msg->speed_limit, msg->percentage);
|
||||
}
|
||||
}
|
||||
|
||||
rcl_interfaces::msg::SetParametersResult
|
||||
ControllerServer::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 we are trying to change the parameter of a plugin we can just skip it at this point
|
||||
// as they handle parameter changes themselves and don't need to lock the mutex
|
||||
if (name.find('.') != std::string::npos) {
|
||||
continue;
|
||||
}
|
||||
|
||||
if (!dynamic_params_lock_.try_lock()) {
|
||||
RCLCPP_WARN(
|
||||
get_logger(),
|
||||
"Unable to dynamically change Parameters while the controller is currently running");
|
||||
result.successful = false;
|
||||
result.reason =
|
||||
"Unable to dynamically change Parameters while the controller is currently running";
|
||||
return result;
|
||||
}
|
||||
|
||||
if (type == ParameterType::PARAMETER_DOUBLE) {
|
||||
if (name == "controller_frequency") {
|
||||
controller_frequency_ = parameter.as_double();
|
||||
} else if (name == "min_x_velocity_threshold") {
|
||||
min_x_velocity_threshold_ = parameter.as_double();
|
||||
} else if (name == "min_y_velocity_threshold") {
|
||||
min_y_velocity_threshold_ = parameter.as_double();
|
||||
} else if (name == "min_theta_velocity_threshold") {
|
||||
min_theta_velocity_threshold_ = parameter.as_double();
|
||||
} else if (name == "failure_tolerance") {
|
||||
failure_tolerance_ = parameter.as_double();
|
||||
}
|
||||
}
|
||||
|
||||
dynamic_params_lock_.unlock();
|
||||
}
|
||||
|
||||
result.successful = true;
|
||||
return result;
|
||||
}
|
||||
|
||||
} // namespace nav2_controller
|
||||
|
||||
#include "rclcpp_components/register_node_macro.hpp"
|
||||
|
||||
// Register the component with class_loader.
|
||||
// This acts as a sort of entry point, allowing the component to be discoverable when its library
|
||||
// is being loaded into a running process.
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(nav2_controller::ControllerServer)
|
||||
@@ -0,0 +1,28 @@
|
||||
// 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 <memory>
|
||||
|
||||
#include "nav2_controller/controller_server.hpp"
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
int main(int argc, char ** argv)
|
||||
{
|
||||
rclcpp::init(argc, argv);
|
||||
auto node = std::make_shared<nav2_controller::ControllerServer>();
|
||||
rclcpp::spin(node->get_node_base_interface());
|
||||
rclcpp::shutdown();
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user