Program Listing for File regulated_pure_pursuit_controller.hpp
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// Copyright (c) 2020 Shrijit Singh
// Copyright (c) 2020 Samsung Research America
//
// 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_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_
#define NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
#include "nav2_core/controller.hpp"
#include "rclcpp/rclcpp.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
#include "std_msgs/msg/bool.hpp"
#include "nav2_regulated_pure_pursuit_controller/path_handler.hpp"
#include "nav2_regulated_pure_pursuit_controller/collision_checker.hpp"
#include "nav2_regulated_pure_pursuit_controller/parameter_handler.hpp"
#include "nav2_regulated_pure_pursuit_controller/regulation_functions.hpp"
namespace nav2_regulated_pure_pursuit_controller
{
class RegulatedPurePursuitController : public nav2_core::Controller
{
public:
RegulatedPurePursuitController() = default;
~RegulatedPurePursuitController() override = default;
void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
void cleanup() override;
void activate() override;
void deactivate() override;
geometry_msgs::msg::TwistStamped computeVelocityCommands(
const geometry_msgs::msg::PoseStamped & pose,
const geometry_msgs::msg::Twist & velocity,
nav2_core::GoalChecker * /*goal_checker*/) override;
bool cancel() override;
void setPlan(const nav_msgs::msg::Path & path) override;
void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
void reset() override;
protected:
double getLookAheadDistance(const geometry_msgs::msg::Twist &);
std::unique_ptr<geometry_msgs::msg::PointStamped> createCarrotMsg(
const geometry_msgs::msg::PoseStamped & carrot_pose);
bool shouldRotateToPath(
const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path,
double & x_vel_sign);
bool shouldRotateToGoalHeading(const geometry_msgs::msg::PoseStamped & carrot_pose);
void rotateToHeading(
double & linear_vel, double & angular_vel,
const double & angle_to_path, const geometry_msgs::msg::Twist & curr_speed);
void applyConstraints(
const double & curvature, const geometry_msgs::msg::Twist & speed,
const double & pose_cost, const nav_msgs::msg::Path & path,
double & linear_vel, double & sign);
static geometry_msgs::msg::Point circleSegmentIntersection(
const geometry_msgs::msg::Point & p1,
const geometry_msgs::msg::Point & p2,
double r);
geometry_msgs::msg::PoseStamped getLookAheadPoint(
const double &, const nav_msgs::msg::Path &,
bool interpolate_after_goal = false);
double findVelocitySignChange(const nav_msgs::msg::Path & transformed_plan);
rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
std::shared_ptr<tf2_ros::Buffer> tf_;
std::string plugin_name_;
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
nav2_costmap_2d::Costmap2D * costmap_;
rclcpp::Logger logger_ {rclcpp::get_logger("RegulatedPurePursuitController")};
Parameters * params_;
double goal_dist_tol_;
double control_duration_;
bool cancelling_ = false;
bool finished_cancelling_ = false;
bool is_rotating_to_heading_ = false;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> global_path_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PointStamped>>
carrot_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PointStamped>>
curvature_carrot_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Bool>>
is_rotating_to_heading_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> carrot_arc_pub_;
std::unique_ptr<nav2_regulated_pure_pursuit_controller::PathHandler> path_handler_;
std::unique_ptr<nav2_regulated_pure_pursuit_controller::ParameterHandler> param_handler_;
std::unique_ptr<nav2_regulated_pure_pursuit_controller::CollisionChecker> collision_checker_;
};
} // namespace nav2_regulated_pure_pursuit_controller
#endif // NAV2_REGULATED_PURE_PURSUIT_CONTROLLER__REGULATED_PURE_PURSUIT_CONTROLLER_HPP_