Program Listing for File controller.hpp

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// 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.

#ifndef NAV2_MPPI_CONTROLLER__CONTROLLER_HPP_
#define NAV2_MPPI_CONTROLLER__CONTROLLER_HPP_

#include <string>
#include <memory>

#include "nav2_mppi_controller/tools/path_handler.hpp"
#include "nav2_mppi_controller/optimizer.hpp"
#include "nav2_mppi_controller/tools/trajectory_visualizer.hpp"
#include "nav2_mppi_controller/models/constraints.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"

#include "nav2_core/controller.hpp"
#include "nav2_core/goal_checker.hpp"
#include "rclcpp/rclcpp.hpp"

namespace nav2_mppi_controller
{

using namespace mppi;  // NOLINT

class MPPIController : public nav2_core::Controller
{
public:
  MPPIController() = default;

  void 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) override;

  void cleanup() override;

  void activate() override;

  void deactivate() override;

  void reset();

  geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & robot_pose,
    const geometry_msgs::msg::Twist & robot_speed,
    nav2_core::GoalChecker * goal_checker) override;

  void setPlan(const nav_msgs::msg::Path & path) override;

  void setSpeedLimit(const double & speed_limit, const bool & percentage) override;

protected:
  void visualize(nav_msgs::msg::Path transformed_plan);

  std::string name_;
  rclcpp_lifecycle::LifecycleNode::WeakPtr parent_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;

  std::unique_ptr<ParametersHandler> parameters_handler_;
  Optimizer optimizer_;
  PathHandler path_handler_;
  TrajectoryVisualizer trajectory_visualizer_;

  bool visualize_;

  double reset_period_;
  // Last time computeVelocityCommands was called
  rclcpp::Time last_time_called_;
};

}  // namespace nav2_mppi_controller

#endif  // NAV2_MPPI_CONTROLLER__CONTROLLER_HPP_