graceful_controller_ros.hpp

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#ifndef GRACEFUL_CONTROLLER_ROS_GRACEFUL_CONTROLLER_ROS_HPP
#define GRACEFUL_CONTROLLER_ROS_GRACEFUL_CONTROLLER_ROS_HPP
 
#include <mutex>
 
#include <nav_core/base_local_planner.h>
#include <nav_msgs/Path.h>
 
#include <base_local_planner/local_planner_util.h>
#include <base_local_planner/odometry_helper_ros.h>
#include <graceful_controller/graceful_controller.hpp>
#include <graceful_controller_ros/orientation_tools.hpp>
#include <std_msgs/Float32.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
#include <dynamic_reconfigure/server.h>
#include <graceful_controller_ros/GracefulControllerConfig.h>
 
#include "graceful_controller_ros/visualization.hpp"
 
namespace graceful_controller
{
class GracefulControllerROS : public nav_core::BaseLocalPlanner
{
public:
  GracefulControllerROS();
  virtual ~GracefulControllerROS();
 
  virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros);
 
  void reconfigureCallback(GracefulControllerConfig& config, uint32_t level);
 
  virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);
 
  virtual bool isGoalReached();
 
  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan);
 
  double rotateTowards(const geometry_msgs::PoseStamped& pose, geometry_msgs::Twist& cmd_vel);
 
  void rotateTowards(double yaw, geometry_msgs::Twist& cmd_vel);
 
private:
  void velocityCallback(const std_msgs::Float32::ConstPtr& max_vel_x);
 
  bool simulate(const geometry_msgs::PoseStamped& target_pose, geometry_msgs::Twist& cmd_vel);
 
  ros::Publisher global_plan_pub_, local_plan_pub_, target_pose_pub_;
  ros::Subscriber max_vel_sub_;
 
  bool initialized_;
  GracefulControllerPtr controller_;
 
  tf2_ros::Buffer* buffer_;
  costmap_2d::Costmap2DROS* costmap_ros_;
  geometry_msgs::TransformStamped robot_to_costmap_transform_;
  base_local_planner::LocalPlannerUtil planner_util_;
  base_local_planner::OdometryHelperRos odom_helper_;
 
  // Parameters and dynamic reconfigure
  std::mutex config_mutex_;
  dynamic_reconfigure::Server<GracefulControllerConfig>* dsrv_;
  double max_vel_x_;
  double min_vel_x_;
  double max_vel_theta_;
  double max_vel_theta_limited_;
  double max_x_to_max_theta_scale_factor_;
  double min_in_place_vel_theta_;
  double acc_lim_x_;
  double acc_lim_theta_;
  double decel_lim_x_;
  double scaling_vel_x_;
  double scaling_factor_;
  double scaling_step_;
  double xy_goal_tolerance_;
  double yaw_goal_tolerance_;
  double xy_vel_goal_tolerance_;
  double yaw_vel_goal_tolerance_;
  double min_lookahead_;
  double max_lookahead_;
  double resolution_;
  double acc_dt_;
  double yaw_filter_tolerance_;
  double yaw_gap_tolerance_;
  bool prefer_final_rotation_;
  bool compute_orientations_;
  bool use_orientation_filter_;
 
  // Goal tolerance
  bool latch_xy_goal_tolerance_;
  bool goal_tolerance_met_;
 
  // Controls initial rotation towards path
  double initial_rotate_tolerance_;
  bool has_new_path_;
 
  // Optional visualization of colliding and non-colliding points checked
  ros::Publisher collision_point_pub_;
  visualization_msgs::MarkerArray* collision_points_;
 
  geometry_msgs::PoseStamped robot_pose_;
};
 
void computeDistanceAlongPath(const std::vector<geometry_msgs::PoseStamped>& poses,
                              std::vector<double>& distances);
 
}  // namespace graceful_controller
 
#endif  // GRACEFUL_CONTROLLER_ROS_GRACEFUL_CONTROLLER_ROS_HPP