X-lanni
172 lines
7.8 KiB
C++
172 lines
7.8 KiB
C++
// Copyright (c) 2023 Alberto J. Tudela Roldán
|
|
//
|
|
// 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 <algorithm>
|
|
#include <string>
|
|
#include <limits>
|
|
#include <memory>
|
|
#include <vector>
|
|
#include <utility>
|
|
|
|
#include "nav2_graceful_controller/parameter_handler.hpp"
|
|
|
|
namespace nav2_graceful_controller
|
|
{
|
|
|
|
using nav2_util::declare_parameter_if_not_declared;
|
|
using rcl_interfaces::msg::ParameterType;
|
|
|
|
ParameterHandler::ParameterHandler(
|
|
rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::string & plugin_name,
|
|
rclcpp::Logger & logger, const double costmap_size_x)
|
|
{
|
|
plugin_name_ = plugin_name;
|
|
logger_ = logger;
|
|
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".transform_tolerance", rclcpp::ParameterValue(0.1));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".motion_target_dist", rclcpp::ParameterValue(0.6));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".max_robot_pose_search_dist",
|
|
rclcpp::ParameterValue(costmap_size_x / 2.0));
|
|
declare_parameter_if_not_declared(node, plugin_name_ + ".k_phi", rclcpp::ParameterValue(3.0));
|
|
declare_parameter_if_not_declared(node, plugin_name_ + ".k_delta", rclcpp::ParameterValue(2.0));
|
|
declare_parameter_if_not_declared(node, plugin_name_ + ".beta", rclcpp::ParameterValue(0.2));
|
|
declare_parameter_if_not_declared(node, plugin_name_ + ".lambda", rclcpp::ParameterValue(2.0));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".v_linear_min", rclcpp::ParameterValue(0.1));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".v_linear_max", rclcpp::ParameterValue(0.5));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".v_angular_max", rclcpp::ParameterValue(1.0));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".slowdown_radius", rclcpp::ParameterValue(1.5));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".initial_rotation", rclcpp::ParameterValue(true));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".initial_rotation_min_angle", rclcpp::ParameterValue(0.75));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".final_rotation", rclcpp::ParameterValue(true));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".rotation_scaling_factor", rclcpp::ParameterValue(0.5));
|
|
declare_parameter_if_not_declared(
|
|
node, plugin_name_ + ".allow_backward", rclcpp::ParameterValue(false));
|
|
|
|
node->get_parameter(plugin_name_ + ".transform_tolerance", params_.transform_tolerance);
|
|
node->get_parameter(plugin_name_ + ".motion_target_dist", params_.motion_target_dist);
|
|
node->get_parameter(
|
|
plugin_name_ + ".max_robot_pose_search_dist", params_.max_robot_pose_search_dist);
|
|
if (params_.max_robot_pose_search_dist < 0.0) {
|
|
RCLCPP_WARN(
|
|
logger_, "Max robot search distance is negative, setting to max to search"
|
|
" every point on path for the closest value.");
|
|
params_.max_robot_pose_search_dist = std::numeric_limits<double>::max();
|
|
}
|
|
|
|
node->get_parameter(plugin_name_ + ".k_phi", params_.k_phi);
|
|
node->get_parameter(plugin_name_ + ".k_delta", params_.k_delta);
|
|
node->get_parameter(plugin_name_ + ".beta", params_.beta);
|
|
node->get_parameter(plugin_name_ + ".lambda", params_.lambda);
|
|
node->get_parameter(plugin_name_ + ".v_linear_min", params_.v_linear_min);
|
|
node->get_parameter(plugin_name_ + ".v_linear_max", params_.v_linear_max);
|
|
params_.v_linear_max_initial = params_.v_linear_max;
|
|
node->get_parameter(plugin_name_ + ".v_angular_max", params_.v_angular_max);
|
|
params_.v_angular_max_initial = params_.v_angular_max;
|
|
node->get_parameter(plugin_name_ + ".slowdown_radius", params_.slowdown_radius);
|
|
node->get_parameter(plugin_name_ + ".initial_rotation", params_.initial_rotation);
|
|
node->get_parameter(
|
|
plugin_name_ + ".initial_rotation_min_angle", params_.initial_rotation_min_angle);
|
|
node->get_parameter(plugin_name_ + ".final_rotation", params_.final_rotation);
|
|
node->get_parameter(plugin_name_ + ".rotation_scaling_factor", params_.rotation_scaling_factor);
|
|
node->get_parameter(plugin_name_ + ".allow_backward", params_.allow_backward);
|
|
|
|
if (params_.initial_rotation && params_.allow_backward) {
|
|
RCLCPP_WARN(
|
|
logger_, "Initial rotation and allow backward parameters are both true, "
|
|
"setting allow backward to false.");
|
|
params_.allow_backward = false;
|
|
}
|
|
|
|
dyn_params_handler_ = node->add_on_set_parameters_callback(
|
|
std::bind(&ParameterHandler::dynamicParametersCallback, this, std::placeholders::_1));
|
|
}
|
|
|
|
rcl_interfaces::msg::SetParametersResult
|
|
ParameterHandler::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
|
|
{
|
|
rcl_interfaces::msg::SetParametersResult result;
|
|
std::lock_guard<std::mutex> lock_reinit(mutex_);
|
|
|
|
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_ + ".transform_tolerance") {
|
|
params_.transform_tolerance = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".motion_target_dist") {
|
|
params_.motion_target_dist = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".k_phi") {
|
|
params_.k_phi = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".k_delta") {
|
|
params_.k_delta = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".beta") {
|
|
params_.beta = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".lambda") {
|
|
params_.lambda = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".v_linear_min") {
|
|
params_.v_linear_min = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".v_linear_max") {
|
|
params_.v_linear_max = parameter.as_double();
|
|
params_.v_linear_max_initial = params_.v_linear_max;
|
|
} else if (name == plugin_name_ + ".v_angular_max") {
|
|
params_.v_angular_max = parameter.as_double();
|
|
params_.v_angular_max_initial = params_.v_angular_max;
|
|
} else if (name == plugin_name_ + ".slowdown_radius") {
|
|
params_.slowdown_radius = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".initial_rotation_min_angle") {
|
|
params_.initial_rotation_min_angle = parameter.as_double();
|
|
} else if (name == plugin_name_ + ".rotation_scaling_factor") {
|
|
params_.rotation_scaling_factor = parameter.as_double();
|
|
}
|
|
} else if (type == ParameterType::PARAMETER_BOOL) {
|
|
if (name == plugin_name_ + ".initial_rotation") {
|
|
if (parameter.as_bool() && params_.allow_backward) {
|
|
RCLCPP_WARN(
|
|
logger_, "Initial rotation and allow backward parameters are both true, "
|
|
"rejecting parameter change.");
|
|
continue;
|
|
}
|
|
params_.initial_rotation = parameter.as_bool();
|
|
} else if (name == plugin_name_ + ".final_rotation") {
|
|
params_.final_rotation = parameter.as_bool();
|
|
} else if (name == plugin_name_ + ".allow_backward") {
|
|
if (params_.initial_rotation && parameter.as_bool()) {
|
|
RCLCPP_WARN(
|
|
logger_, "Initial rotation and allow backward parameters are both true, "
|
|
"rejecting parameter change.");
|
|
continue;
|
|
}
|
|
params_.allow_backward = parameter.as_bool();
|
|
}
|
|
}
|
|
}
|
|
|
|
result.successful = true;
|
|
return result;
|
|
}
|
|
|
|
} // namespace nav2_graceful_controller
|