X-lanni
120 lines
4.0 KiB
C++
120 lines
4.0 KiB
C++
// Copyright (c) 2019 Intel Corporation
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "nav2_controller/plugins/simple_progress_checker.hpp"
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#include <cmath>
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#include <string>
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#include <memory>
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#include <vector>
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#include "nav2_core/exceptions.hpp"
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#include "nav_2d_utils/conversions.hpp"
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#include "geometry_msgs/msg/pose_stamped.hpp"
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#include "geometry_msgs/msg/pose2_d.hpp"
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#include "nav2_util/node_utils.hpp"
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#include "pluginlib/class_list_macros.hpp"
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using rcl_interfaces::msg::ParameterType;
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using std::placeholders::_1;
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namespace nav2_controller
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{
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void SimpleProgressChecker::initialize(
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const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
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const std::string & plugin_name)
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{
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plugin_name_ = plugin_name;
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auto node = parent.lock();
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clock_ = node->get_clock();
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nav2_util::declare_parameter_if_not_declared(
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node, plugin_name + ".required_movement_radius", rclcpp::ParameterValue(0.5));
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nav2_util::declare_parameter_if_not_declared(
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node, plugin_name + ".movement_time_allowance", rclcpp::ParameterValue(10.0));
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// Scale is set to 0 by default, so if it was not set otherwise, set to 0
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node->get_parameter_or(plugin_name + ".required_movement_radius", radius_, 0.5);
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double time_allowance_param = 0.0;
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node->get_parameter_or(plugin_name + ".movement_time_allowance", time_allowance_param, 10.0);
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time_allowance_ = rclcpp::Duration::from_seconds(time_allowance_param);
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// Add callback for dynamic parameters
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dyn_params_handler_ = node->add_on_set_parameters_callback(
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std::bind(&SimpleProgressChecker::dynamicParametersCallback, this, _1));
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}
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bool SimpleProgressChecker::check(geometry_msgs::msg::PoseStamped & current_pose)
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{
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// relies on short circuit evaluation to not call is_robot_moved_enough if
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// baseline_pose is not set.
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geometry_msgs::msg::Pose2D current_pose2d;
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current_pose2d = nav_2d_utils::poseToPose2D(current_pose.pose);
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if ((!baseline_pose_set_) || (isRobotMovedEnough(current_pose2d))) {
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resetBaselinePose(current_pose2d);
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return true;
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}
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return !((clock_->now() - baseline_time_) > time_allowance_);
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}
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void SimpleProgressChecker::reset()
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{
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baseline_pose_set_ = false;
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}
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void SimpleProgressChecker::resetBaselinePose(const geometry_msgs::msg::Pose2D & pose)
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{
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baseline_pose_ = pose;
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baseline_time_ = clock_->now();
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baseline_pose_set_ = true;
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}
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bool SimpleProgressChecker::isRobotMovedEnough(const geometry_msgs::msg::Pose2D & pose)
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{
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return pose_distance(pose, baseline_pose_) > radius_;
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}
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double SimpleProgressChecker::pose_distance(
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const geometry_msgs::msg::Pose2D & pose1,
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const geometry_msgs::msg::Pose2D & pose2)
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{
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double dx = pose1.x - pose2.x;
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double dy = pose1.y - pose2.y;
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return std::hypot(dx, dy);
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}
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rcl_interfaces::msg::SetParametersResult
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SimpleProgressChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
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{
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rcl_interfaces::msg::SetParametersResult result;
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for (auto parameter : parameters) {
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const auto & type = parameter.get_type();
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const auto & name = parameter.get_name();
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if (type == ParameterType::PARAMETER_DOUBLE) {
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if (name == plugin_name_ + ".required_movement_radius") {
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radius_ = parameter.as_double();
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} else if (name == plugin_name_ + ".movement_time_allowance") {
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time_allowance_ = rclcpp::Duration::from_seconds(parameter.as_double());
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}
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}
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}
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result.successful = true;
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return result;
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}
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} // namespace nav2_controller
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PLUGINLIB_EXPORT_CLASS(nav2_controller::SimpleProgressChecker, nav2_core::ProgressChecker)
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