Program Listing for File waypoints_navigator.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/components/waypoints_navigator/waypoints_event_dispatcher.hpp>
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc.hpp>
#include <geometry_msgs/msg/pose.hpp>
namespace cl_nav2z
{
class ClNav2Z;
struct Pose2D
{
Pose2D(double x, double y, double yaw)
{
this->x_ = x;
this->y_ = y;
this->yaw_ = yaw;
}
double x_;
double y_;
double yaw_;
};
struct NavigateNextWaypointOptions
{
std::optional<std::string> controllerName_;
std::optional<std::string> goalCheckerName_;
};
// This component contains a list of waypoints. These waypoints can
// be iterated in the different states using CbNextWaiPoint
// waypoint index is only incremented if the current waypoint is successfully reached
class WaypointNavigator : public smacc2::ISmaccComponent
{
public:
WaypointEventDispatcher waypointsEventDispatcher;
ClNav2Z * client_;
WaypointNavigator();
void onInitialize() override;
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
waypointsEventDispatcher.initialize<TSourceObject, TOrthogonal>(client_);
}
void loadWayPointsFromFile(std::string filepath);
void loadWayPointsFromFile2(std::string filepath);
void setWaypoints(const std::vector<geometry_msgs::msg::Pose> & waypoints);
void setWaypoints(const std::vector<Pose2D> & waypoints);
std::optional<std::shared_future<
std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > > >
sendNextGoal(
std::optional<NavigateNextWaypointOptions> options = std::nullopt,
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::WeakPtr callback =
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::WeakPtr());
void stopWaitingResult();
const std::vector<geometry_msgs::msg::Pose> & getWaypoints() const;
const std::vector<std::string> & getWaypointNames() const;
std::optional<geometry_msgs::msg::Pose> getNamedPose(std::string name) const;
long getCurrentWaypointIndex() const;
std::optional<std::string> getCurrentWaypointName() const;
long currentWaypoint_;
void rewind(int count);
void forward(int count);
void seekName(std::string name);
smacc2::SmaccSignal<void()> onNavigationRequestSucceded;
smacc2::SmaccSignal<void()> onNavigationRequestAborted;
smacc2::SmaccSignal<void()> onNavigationRequestCancelled;
private:
void insertWaypoint(int index, geometry_msgs::msg::Pose & newpose);
void removeWaypoint(int index);
void onGoalReached(ClNav2Z::WrappedResult & res);
void onGoalCancelled(ClNav2Z::WrappedResult & /*res*/);
void onGoalAborted(ClNav2Z::WrappedResult & /*res*/);
std::vector<geometry_msgs::msg::Pose> waypoints_;
std::vector<std::string> waypointsNames_;
boost::signals2::connection succeddedNav2ZClientConnection_;
boost::signals2::connection abortedNav2ZClientConnection_;
boost::signals2::connection cancelledNav2ZClientConnection_;
};
} // namespace cl_nav2z