stopped_goal_checker.cpp

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#include <dwb_plugins/stopped_goal_checker.h>
#include <pluginlib/class_list_macros.h>

namespace dwb_plugins
{

StoppedGoalChecker::StoppedGoalChecker() :
  SimpleGoalChecker(), rot_stopped_velocity_(0.25), trans_stopped_velocity_(0.25)
{
}

void StoppedGoalChecker::initialize(const ros::NodeHandle& nh)
{
  SimpleGoalChecker::initialize(nh);
  nh.param("rot_stopped_velocity", rot_stopped_velocity_, 0.25);
  nh.param("trans_stopped_velocity", trans_stopped_velocity_, 0.25);
}

bool StoppedGoalChecker::isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose,
                                       const nav_2d_msgs::Twist2D& velocity)
{
  bool ret = SimpleGoalChecker::isGoalReached(query_pose, goal_pose, velocity);
  if (!ret)
  {
    return ret;
  }
  return fabs(velocity.theta) <= rot_stopped_velocity_
         && fabs(velocity.x) <= trans_stopped_velocity_ && fabs(velocity.y) <= trans_stopped_velocity_;
}

}  // namespace dwb_plugins

PLUGINLIB_EXPORT_CLASS(dwb_plugins::StoppedGoalChecker, dwb_local_planner::GoalChecker)