costmap_navigation_server.h

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/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  costmap_navigation_server.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_COSTMAP_NAV__COSTMAP_NAVIGATION_SERVER_H_
#define MBF_COSTMAP_NAV__COSTMAP_NAVIGATION_SERVER_H_

#include <mbf_abstract_nav/abstract_navigation_server.h>

#include "costmap_planner_execution.h"
#include "costmap_controller_execution.h"
#include "costmap_recovery_execution.h"

#include <mbf_costmap_nav/MoveBaseFlexConfig.h>
#include <std_srvs/Empty.h>
#include <mbf_msgs/CheckPath.h>
#include <mbf_msgs/CheckPose.h>
#include <mbf_msgs/CheckPoint.h>

#include <nav_core/base_global_planner.h>
#include <nav_core/base_local_planner.h>
#include <nav_core/recovery_behavior.h>

namespace mbf_costmap_nav
{
typedef boost::shared_ptr<dynamic_reconfigure::Server<mbf_costmap_nav::MoveBaseFlexConfig> > DynamicReconfigureServerCostmapNav;

class CostmapNavigationServer : public mbf_abstract_nav::AbstractNavigationServer
{
public:

  typedef boost::shared_ptr<costmap_2d::Costmap2DROS> CostmapPtr;

  typedef boost::shared_ptr<CostmapNavigationServer> Ptr;

  CostmapNavigationServer(const TFPtr &tf_listener_ptr);

  virtual ~CostmapNavigationServer();

  virtual void stop();

private:

  virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr newPlannerExecution(
      const std::string name,
      const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr);

  virtual mbf_abstract_nav::AbstractControllerExecution::Ptr newControllerExecution(
      const std::string name,
      const mbf_abstract_core::AbstractController::Ptr plugin_ptr);

  virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr newRecoveryExecution(
      const std::string name,
      const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr);

  virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type);

  virtual bool initializePlannerPlugin(
      const std::string& name,
      const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr
  );

  virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type);

  virtual bool initializeControllerPlugin(
      const std::string& name,
      const mbf_abstract_core::AbstractController::Ptr& controller_ptr
  );

  virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type);

  virtual bool initializeRecoveryPlugin(
      const std::string& name,
      const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr);


  void checkActivateCostmaps();

  void checkDeactivateCostmaps();

  void deactivateCostmaps(const ros::TimerEvent &event);

  bool callServiceCheckPointCost(mbf_msgs::CheckPoint::Request &request,
                                 mbf_msgs::CheckPoint::Response &response);

  bool callServiceCheckPoseCost(mbf_msgs::CheckPose::Request &request,
                                mbf_msgs::CheckPose::Response &response);

  bool callServiceCheckPathCost(mbf_msgs::CheckPath::Request &request,
                                mbf_msgs::CheckPath::Response &response);

  bool callServiceClearCostmaps(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);

  void reconfigure(mbf_costmap_nav::MoveBaseFlexConfig &config, uint32_t level);

  pluginlib::ClassLoader<mbf_costmap_core::CostmapRecovery> recovery_plugin_loader_;
  pluginlib::ClassLoader<nav_core::RecoveryBehavior> nav_core_recovery_plugin_loader_;
  pluginlib::ClassLoader<mbf_costmap_core::CostmapController> controller_plugin_loader_;
  pluginlib::ClassLoader<nav_core::BaseLocalPlanner> nav_core_controller_plugin_loader_;
  pluginlib::ClassLoader<mbf_costmap_core::CostmapPlanner> planner_plugin_loader_;
  pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> nav_core_planner_plugin_loader_;

  DynamicReconfigureServerCostmapNav dsrv_costmap_;

  mbf_costmap_nav::MoveBaseFlexConfig last_config_;

  mbf_costmap_nav::MoveBaseFlexConfig default_config_;

  bool setup_reconfigure_;

  CostmapPtr local_costmap_ptr_;

  CostmapPtr global_costmap_ptr_;

  ros::ServiceServer check_point_cost_srv_;

  ros::ServiceServer check_pose_cost_srv_;

  ros::ServiceServer check_path_cost_srv_;

  ros::ServiceServer clear_costmaps_srv_;

  bool shutdown_costmaps_;
  uint16_t costmaps_users_;               
  ros::Timer shutdown_costmaps_timer_;    
  ros::Duration shutdown_costmaps_delay_; 

  boost::mutex check_costmaps_mutex_;
};

} /* namespace mbf_costmap_nav */

#endif /* MBF_COSTMAP_NAV__COSTMAP_NAVIGATION_SERVER_H_ */