Program Listing for File assisted_teleop.hpp
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// Copyright (c) 2022 Joshua Wallace
//
// 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_BEHAVIORS__PLUGINS__ASSISTED_TELEOP_HPP_
#define NAV2_BEHAVIORS__PLUGINS__ASSISTED_TELEOP_HPP_
#include <chrono>
#include <memory>
#include <string>
#include "geometry_msgs/msg/twist.hpp"
#include "std_msgs/msg/empty.hpp"
#include "nav2_behaviors/timed_behavior.hpp"
#include "nav2_msgs/action/assisted_teleop.hpp"
#include "nav2_util/twist_subscriber.hpp"
namespace nav2_behaviors
{
using AssistedTeleopAction = nav2_msgs::action::AssistedTeleop;
class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
{
using CostmapInfoType = nav2_core::CostmapInfoType;
public:
using AssistedTeleopActionGoal = AssistedTeleopAction::Goal;
using AssistedTeleopActionResult = AssistedTeleopAction::Result;
AssistedTeleop();
ResultStatus onRun(const std::shared_ptr<const AssistedTeleopActionGoal> command) override;
void onActionCompletion(std::shared_ptr<AssistedTeleopActionResult>/*result*/) override;
ResultStatus onCycleUpdate() override;
CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}
protected:
void onConfigure() override;
geometry_msgs::msg::Pose2D projectPose(
const geometry_msgs::msg::Pose2D & pose,
const geometry_msgs::msg::Twist & twist,
double projection_time);
void preemptTeleopCallback(const std_msgs::msg::Empty::SharedPtr msg);
AssistedTeleopAction::Feedback::SharedPtr feedback_;
// parameters
double projection_time_;
double simulation_time_step_;
geometry_msgs::msg::TwistStamped teleop_twist_;
bool preempt_teleop_{false};
// subscribers
std::unique_ptr<nav2_util::TwistSubscriber> vel_sub_;
rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr preempt_teleop_sub_;
rclcpp::Duration command_time_allowance_{0, 0};
rclcpp::Time end_time_;
};
} // namespace nav2_behaviors
#endif // NAV2_BEHAVIORS__PLUGINS__ASSISTED_TELEOP_HPP_