Program Listing for File or_navigation.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// 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.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc_orthogonal.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <nav2z_client/components/goal_checker_switcher/goal_checker_switcher.hpp>
#include <nav2z_client/components/odom_tracker/odom_tracker.hpp>
#include <nav2z_client/components/pose/cp_pose.hpp>
#include <nav2z_client/components/slam_toolbox/cp_slam_toolbox.hpp>
#include <nav2z_client/components/waypoints_navigator/waypoints_navigator.hpp>
namespace sm_dance_bot
{
using namespace cl_nav2z;
using namespace std::chrono_literals;
class OrNavigation : public smacc2::Orthogonal<OrNavigation>
{
public:
void onInitialize() override
{
auto nav2zClient = this->createClient<ClNav2Z>();
// create pose component
nav2zClient->createComponent<cl_nav2z::Pose>();
// create planner switcher
nav2zClient->createComponent<PlannerSwitcher>();
// create goal checker switcher
nav2zClient->createComponent<cl_nav2z::GoalCheckerSwitcher>();
// create odom tracker
nav2zClient->createComponent<cl_nav2z::odom_tracker::OdomTracker>();
// create odom tracker
nav2zClient->createComponent<cl_nav2z::CpSlamToolbox>();
// create waypoints navigator component
auto waypointsNavigator = nav2zClient->createComponent<WaypointNavigator>();
loadWaypointsFromYaml(waypointsNavigator);
// change this to skip some points of the yaml file, default = 0
waypointsNavigator->currentWaypoint_ = 0;
}
void loadWaypointsFromYaml(WaypointNavigator * waypointsNavigator)
{
// if it is the first time and the waypoints navigator is not configured
std::string planfilepath;
getNode()->declare_parameter("waypoints_plan", planfilepath);
if (getNode()->get_parameter("waypoints_plan", planfilepath))
{
std::string package_share_directory =
ament_index_cpp::get_package_share_directory("sm_dance_bot");
boost::replace_all(planfilepath, "$(pkg_share)", package_share_directory);
waypointsNavigator->loadWayPointsFromFile(planfilepath);
RCLCPP_INFO(getLogger(), "waypoints plan: %s", planfilepath.c_str());
}
else
{
RCLCPP_ERROR(getLogger(), "waypoints plan file not found: NONE");
}
}
};
} // namespace sm_dance_bot