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 +1,138 @@
+// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
+//
+// 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 <stdint.h>
+#include <chrono>
+#include "nav2_mppi_controller/controller.hpp"
+#include "nav2_mppi_controller/tools/utils.hpp"
+
+// #define BENCHMARK_TESTING
+
+namespace nav2_mppi_controller
+{
+
+void MPPIController::configure(
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
+  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
+{
+  parent_ = parent;
+  costmap_ros_ = costmap_ros;
+  tf_buffer_ = tf;
+  name_ = name;
+  parameters_handler_ = std::make_unique<ParametersHandler>(parent);
+
+  auto node = parent_.lock();
+  clock_ = node->get_clock();
+  last_time_called_ = clock_->now();
+  // Get high-level controller parameters
+  auto getParam = parameters_handler_->getParamGetter(name_);
+  getParam(visualize_, "visualize", false);
+  getParam(reset_period_, "reset_period", 1.0);
+
+  // Configure composed objects
+  optimizer_.initialize(parent_, name_, costmap_ros_, parameters_handler_.get());
+  path_handler_.initialize(parent_, name_, costmap_ros_, tf_buffer_, parameters_handler_.get());
+  trajectory_visualizer_.on_configure(
+    parent_, name_,
+    costmap_ros_->getGlobalFrameID(), parameters_handler_.get());
+
+  RCLCPP_INFO(logger_, "Configured MPPI Controller: %s", name_.c_str());
+}
+
+void MPPIController::cleanup()
+{
+  optimizer_.shutdown();
+  trajectory_visualizer_.on_cleanup();
+  parameters_handler_.reset();
+  RCLCPP_INFO(logger_, "Cleaned up MPPI Controller: %s", name_.c_str());
+}
+
+void MPPIController::activate()
+{
+  trajectory_visualizer_.on_activate();
+  parameters_handler_->start();
+  RCLCPP_INFO(logger_, "Activated MPPI Controller: %s", name_.c_str());
+}
+
+void MPPIController::deactivate()
+{
+  trajectory_visualizer_.on_deactivate();
+  RCLCPP_INFO(logger_, "Deactivated MPPI Controller: %s", name_.c_str());
+}
+
+void MPPIController::reset()
+{
+  optimizer_.reset();
+}
+
+geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands(
+  const geometry_msgs::msg::PoseStamped & robot_pose,
+  const geometry_msgs::msg::Twist & robot_speed,
+  nav2_core::GoalChecker * goal_checker)
+{
+#ifdef BENCHMARK_TESTING
+  auto start = std::chrono::system_clock::now();
+#endif
+
+  if (clock_->now() - last_time_called_ > rclcpp::Duration::from_seconds(reset_period_)) {
+    reset();
+  }
+  last_time_called_ = clock_->now();
+
+  std::lock_guard<std::mutex> param_lock(*parameters_handler_->getLock());
+  geometry_msgs::msg::Pose goal = path_handler_.getTransformedGoal(robot_pose.header.stamp).pose;
+
+  nav_msgs::msg::Path transformed_plan = path_handler_.transformPath(robot_pose);
+
+  nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
+  std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> costmap_lock(*(costmap->getMutex()));
+
+  geometry_msgs::msg::TwistStamped cmd =
+    optimizer_.evalControl(robot_pose, robot_speed, transformed_plan, goal, goal_checker);
+
+#ifdef BENCHMARK_TESTING
+  auto end = std::chrono::system_clock::now();
+  auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
+  RCLCPP_INFO(logger_, "Control loop execution time: %ld [ms]", duration);
+#endif
+
+  if (visualize_) {
+    visualize(std::move(transformed_plan));
+  }
+
+  return cmd;
+}
+
+void MPPIController::visualize(nav_msgs::msg::Path transformed_plan)
+{
+  trajectory_visualizer_.add(optimizer_.getGeneratedTrajectories(), "Candidate Trajectories");
+  trajectory_visualizer_.add(optimizer_.getOptimizedTrajectory(), "Optimal Trajectory");
+  trajectory_visualizer_.visualize(std::move(transformed_plan));
+}
+
+void MPPIController::setPlan(const nav_msgs::msg::Path & path)
+{
+  path_handler_.setPath(path);
+}
+
+void MPPIController::setSpeedLimit(const double & speed_limit, const bool & percentage)
+{
+  optimizer_.setSpeedLimit(speed_limit, percentage);
+}
+
+}  // namespace nav2_mppi_controller
+
+#include "pluginlib/class_list_macros.hpp"
+PLUGINLIB_EXPORT_CLASS(nav2_mppi_controller::MPPIController, nav2_core::Controller)