trajectory_planner_ros.h

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * 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.
*   * Neither the name of the Willow Garage 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 OWNER 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.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_
#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_

#include <ros/ros.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_publisher.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <base_local_planner/world_model.h>
#include <base_local_planner/point_grid.h>
#include <base_local_planner/costmap_model.h>
#include <base_local_planner/voxel_grid_model.h>
#include <base_local_planner/trajectory_planner.h>
#include <base_local_planner/map_grid_visualizer.h>

#include <base_local_planner/planar_laser_scan.h>

#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>

#include <tf2_ros/buffer.h>

#include <boost/thread.hpp>

#include <string>

#include <angles/angles.h>

#include <nav_core/base_local_planner.h>

#include <dynamic_reconfigure/server.h>
#include <base_local_planner/BaseLocalPlannerConfig.h>

#include <base_local_planner/odometry_helper_ros.h>

namespace base_local_planner {
  class TrajectoryPlannerROS : public nav_core::BaseLocalPlanner {
    public:
      TrajectoryPlannerROS();

      TrajectoryPlannerROS(std::string name,
                           tf2_ros::Buffer* tf,
                           costmap_2d::Costmap2DROS* costmap_ros);

      void initialize(std::string name, tf2_ros::Buffer* tf,
          costmap_2d::Costmap2DROS* costmap_ros);

      ~TrajectoryPlannerROS();
      
      bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);

      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);

      bool isGoalReached();

      bool checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true);

      double scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true);

      bool isInitialized() {
        return initialized_;
      }

      TrajectoryPlanner* getPlanner() const { return tc_; }

    private:
      void reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level);

      bool rotateToGoal(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel);

      bool stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, geometry_msgs::Twist& cmd_vel);

      std::vector<double> loadYVels(ros::NodeHandle node);

      double sign(double x){
        return x < 0.0 ? -1.0 : 1.0;
      }

      WorldModel* world_model_; 
      TrajectoryPlanner* tc_; 

      costmap_2d::Costmap2DROS* costmap_ros_; 
      costmap_2d::Costmap2D* costmap_; 
      MapGridVisualizer map_viz_; 
      tf2_ros::Buffer* tf_; 
      std::string global_frame_; 
      double max_sensor_range_; 
      nav_msgs::Odometry base_odom_; 
      std::string robot_base_frame_; 
      double rot_stopped_velocity_, trans_stopped_velocity_;
      double xy_goal_tolerance_, yaw_goal_tolerance_, min_in_place_vel_th_;
      std::vector<geometry_msgs::PoseStamped> global_plan_;
      bool prune_plan_;
      boost::recursive_mutex odom_lock_;

      double max_vel_th_, min_vel_th_;
      double acc_lim_x_, acc_lim_y_, acc_lim_theta_;
      double sim_period_;
      bool rotating_to_goal_;
      bool reached_goal_;
      bool latch_xy_goal_tolerance_, xy_tolerance_latch_;

      ros::Publisher g_plan_pub_, l_plan_pub_;

      dynamic_reconfigure::Server<BaseLocalPlannerConfig> *dsrv_;
      base_local_planner::BaseLocalPlannerConfig default_config_;
      bool setup_;


      bool initialized_;
      base_local_planner::OdometryHelperRos odom_helper_;

      std::vector<geometry_msgs::Point> footprint_spec_;
  };
};
#endif