abstract_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.
 *
 *  abstract_navigation_server.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_
#define MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_

#include <string>
#include <stdint.h>

#include <boost/shared_ptr.hpp>
#include <boost/thread/recursive_mutex.hpp>

#include <actionlib/server/action_server.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_listener.h>

#include <mbf_utility/navigation_utility.h>

#include "mbf_abstract_nav/abstract_plugin_manager.h"
#include "mbf_abstract_nav/abstract_planner_execution.h"
#include "mbf_abstract_nav/abstract_controller_execution.h"
#include "mbf_abstract_nav/abstract_recovery_execution.h"

#include "mbf_abstract_nav/planner_action.h"
#include "mbf_abstract_nav/controller_action.h"
#include "mbf_abstract_nav/recovery_action.h"
#include "mbf_abstract_nav/move_base_action.h"

#include "mbf_abstract_nav/MoveBaseFlexConfig.h"

namespace mbf_abstract_nav
{
typedef actionlib::ActionServer<mbf_msgs::GetPathAction> ActionServerGetPath;
typedef boost::shared_ptr<ActionServerGetPath> ActionServerGetPathPtr;

typedef actionlib::ActionServer<mbf_msgs::ExePathAction> ActionServerExePath;
typedef boost::shared_ptr<ActionServerExePath> ActionServerExePathPtr;

typedef actionlib::ActionServer<mbf_msgs::RecoveryAction> ActionServerRecovery;
typedef boost::shared_ptr<ActionServerRecovery> ActionServerRecoveryPtr;

typedef actionlib::ActionServer<mbf_msgs::MoveBaseAction> ActionServerMoveBase;
typedef boost::shared_ptr<ActionServerMoveBase> ActionServerMoveBasePtr;

const std::string name_action_exe_path = "exe_path";
const std::string name_action_get_path = "get_path";
const std::string name_action_recovery = "recovery";
const std::string name_action_move_base = "move_base";


typedef boost::shared_ptr<dynamic_reconfigure::Server<mbf_abstract_nav::MoveBaseFlexConfig> > DynamicReconfigureServer;

  class AbstractNavigationServer
  {
  public:

    AbstractNavigationServer(const TFPtr &tf_listener_ptr);
    virtual ~AbstractNavigationServer();

    virtual void stop();

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

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

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

    virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type) = 0;

    virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type) = 0;

    virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type) = 0;

    virtual bool initializePlannerPlugin(
        const std::string& name,
        const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr
    ) = 0;

    virtual bool initializeControllerPlugin(
        const std::string& name,
        const mbf_abstract_core::AbstractController::Ptr& controller_ptr
    ) = 0;

    virtual bool initializeRecoveryPlugin(
        const std::string& name,
        const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr
    ) = 0;


    virtual void callActionGetPath(ActionServerGetPath::GoalHandle goal_handle);

    virtual void cancelActionGetPath(ActionServerGetPath::GoalHandle goal_handle);

    virtual void callActionExePath(ActionServerExePath::GoalHandle goal_handle);

    virtual void cancelActionExePath(ActionServerExePath::GoalHandle goal_handle);

    virtual void callActionRecovery(ActionServerRecovery::GoalHandle goal_handle);

    virtual void cancelActionRecovery(ActionServerRecovery::GoalHandle goal_handle);

    virtual void callActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle);

    virtual void cancelActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle);

    virtual void startActionServers();

    virtual void initializeServerComponents();

    bool getRobotPose(geometry_msgs::PoseStamped &robot_pose);

  protected:

    bool transformPlanToGlobalFrame(std::vector<geometry_msgs::PoseStamped> &plan,
                                    std::vector<geometry_msgs::PoseStamped> &global_plan);

    virtual void startDynamicReconfigureServer();

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

    ros::NodeHandle private_nh_;

    AbstractPluginManager<mbf_abstract_core::AbstractPlanner> planner_plugin_manager_;
    AbstractPluginManager<mbf_abstract_core::AbstractController> controller_plugin_manager_;
    AbstractPluginManager<mbf_abstract_core::AbstractRecovery> recovery_plugin_manager_;

    ActionServerRecoveryPtr action_server_recovery_ptr_;

    ActionServerExePathPtr action_server_exe_path_ptr_;

    ActionServerGetPathPtr action_server_get_path_ptr_;

    ActionServerMoveBasePtr action_server_move_base_ptr_;

    DynamicReconfigureServer dsrv_;

    boost::mutex configuration_mutex_;

    mbf_abstract_nav::MoveBaseFlexConfig last_config_;

    mbf_abstract_nav::MoveBaseFlexConfig default_config_;

    bool setup_reconfigure_;

    std::string robot_frame_;

    std::string global_frame_;

    ros::Duration tf_timeout_;

    const TFPtr tf_listener_ptr_;

    geometry_msgs::PoseStamped robot_pose_;

    geometry_msgs::PoseStamped goal_pose_;

    ros::Duration oscillation_timeout_;

    double oscillation_distance_;

    bool recovery_enabled_;

    bool clearing_rotation_allowed_;

    ros::Publisher vel_pub_;

    ros::Publisher goal_pub_;

    RobotInformation robot_info_;

    ControllerAction controller_action_;
    PlannerAction planner_action_;
    RecoveryAction recovery_action_;
    MoveBaseAction move_base_action_;
  };

} /* namespace mbf_abstract_nav */

#endif /* navigation_controller.h */