X-lanni
148 lines
4.5 KiB
C++
148 lines
4.5 KiB
C++
// Copyright (c) 2025 Prabhav Saxena
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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 <memory>
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#include <string>
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#include <limits>
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#include "nav2_controller/plugins/position_goal_checker.hpp"
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#include "pluginlib/class_list_macros.hpp"
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#include "nav2_util/node_utils.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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PositionGoalChecker::PositionGoalChecker()
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: xy_goal_tolerance_(0.25),
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xy_goal_tolerance_sq_(0.0625),
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stateful_(true),
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position_reached_(false)
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{
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}
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void PositionGoalChecker::initialize(
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const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
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const std::string & plugin_name,
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const std::shared_ptr<nav2_costmap_2d::Costmap2DROS>/*costmap_ros*/)
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{
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plugin_name_ = plugin_name;
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auto node = parent.lock();
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nav2_util::declare_parameter_if_not_declared(
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node,
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plugin_name + ".xy_goal_tolerance", rclcpp::ParameterValue(0.25));
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nav2_util::declare_parameter_if_not_declared(
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node,
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plugin_name + ".stateful", rclcpp::ParameterValue(true));
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node->get_parameter(plugin_name + ".xy_goal_tolerance", xy_goal_tolerance_);
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node->get_parameter(plugin_name + ".stateful", stateful_);
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xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
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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(&PositionGoalChecker::dynamicParametersCallback, this, _1));
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}
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void PositionGoalChecker::reset()
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{
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position_reached_ = false;
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}
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bool PositionGoalChecker::isGoalReached(
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const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
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const geometry_msgs::msg::Twist &)
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{
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// If stateful and position was already reached, maintain state
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if (stateful_ && position_reached_) {
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return true;
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}
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// Check if position is within tolerance
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double dx = query_pose.position.x - goal_pose.position.x;
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double dy = query_pose.position.y - goal_pose.position.y;
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bool position_reached = (dx * dx + dy * dy <= xy_goal_tolerance_sq_);
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// If stateful, remember that we reached the position
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if (stateful_ && position_reached) {
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position_reached_ = true;
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}
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return position_reached;
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}
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bool PositionGoalChecker::getTolerances(
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geometry_msgs::msg::Pose & pose_tolerance,
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geometry_msgs::msg::Twist & vel_tolerance)
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{
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double invalid_field = std::numeric_limits<double>::lowest();
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pose_tolerance.position.x = xy_goal_tolerance_;
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pose_tolerance.position.y = xy_goal_tolerance_;
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pose_tolerance.position.z = invalid_field;
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// Return zero orientation tolerance as we don't check it
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pose_tolerance.orientation.x = 0.0;
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pose_tolerance.orientation.y = 0.0;
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pose_tolerance.orientation.z = 0.0;
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pose_tolerance.orientation.w = 1.0;
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vel_tolerance.linear.x = invalid_field;
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vel_tolerance.linear.y = invalid_field;
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vel_tolerance.linear.z = invalid_field;
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vel_tolerance.angular.x = invalid_field;
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vel_tolerance.angular.y = invalid_field;
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vel_tolerance.angular.z = invalid_field;
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return true;
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}
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void nav2_controller::PositionGoalChecker::setXYGoalTolerance(double tolerance)
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{
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xy_goal_tolerance_ = tolerance;
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xy_goal_tolerance_sq_ = tolerance * tolerance;
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}
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rcl_interfaces::msg::SetParametersResult
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PositionGoalChecker::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_ + ".xy_goal_tolerance") {
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xy_goal_tolerance_ = parameter.as_double();
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xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
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}
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} else if (type == ParameterType::PARAMETER_BOOL) {
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if (name == plugin_name_ + ".stateful") {
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stateful_ = parameter.as_bool();
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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::PositionGoalChecker, nav2_core::GoalChecker)
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