Program Listing for File backward_local_planner.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 <dynamic_reconfigure/server.h>
//#include <backward_local_planner/BackwardLocalPlannerConfig.h>
#include <tf2/transform_datatypes.h>
#include <tf2_ros/buffer.h>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <nav2_core/controller.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
#include <tf2/utils.h>
#include <eigen3/Eigen/Eigen>
typedef double meter;
typedef double rad;
namespace cl_nav2z
{
namespace backward_local_planner
{
class BackwardLocalPlanner : public nav2_core::Controller
{
public:
BackwardLocalPlanner();
virtual ~BackwardLocalPlanner();
void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name,
const std::shared_ptr<tf2_ros::Buffer> tf,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
void activate() override;
void deactivate() override;
void cleanup() override;
void setPlan(const nav_msgs::msg::Path & path) override;
virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
const geometry_msgs::msg::PoseStamped & pose, const geometry_msgs::msg::Twist & velocity,
nav2_core::GoalChecker * goal_checker) override;
/*deprecated in navigation2*/
bool isGoalReached();
virtual void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
private:
void updateParameters();
// returns true if found
bool findInitialCarrotGoal(geometry_msgs::msg::PoseStamped & pose);
// returns true for a pure spining motion request
bool updateCarrotGoal(const geometry_msgs::msg::PoseStamped & pose);
bool resamplePrecisePlan();
void straightBackwardsAndPureSpinCmd(
const geometry_msgs::msg::PoseStamped & pose, double & vetta, double & gamma,
double alpha_error, double betta_error, double rho_error);
void clearMarkers();
void publishGoalMarker(double x, double y, double phi);
void computeCurrentEuclideanAndAngularErrorsToCarrotGoal(
const geometry_msgs::msg::PoseStamped & pose, double & dist, double & angular_error);
bool checkGoalReached(
const geometry_msgs::msg::PoseStamped & pose, double vetta, double gamma, double alpha_error,
geometry_msgs::msg::Twist & cmd_vel);
bool checkCurrentPoseInGoalRange(
const geometry_msgs::msg::PoseStamped & tfpose, const geometry_msgs::msg::Twist & currentTwist,
double angle_error, bool & linearGoalReached, nav2_core::GoalChecker * goalChecker);
bool resetDivergenceDetection();
bool divergenceDetectionUpdate(const geometry_msgs::msg::PoseStamped & pose);
bool checkCarrotHalfPlainConstraint(const geometry_msgs::msg::PoseStamped & pose);
// void reconfigCB(::backward_local_planner::BackwardLocalPlannerConfig &config, uint32_t level);
// dynamic_reconfigure::Server<::backward_local_planner::BackwardLocalPlannerConfig> paramServer_;
// dynamic_reconfigure::Server<::backward_local_planner::BackwardLocalPlannerConfig>::CallbackType f;
rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;
std::string name_;
std::vector<geometry_msgs::msg::PoseStamped> backwardsPlanPath_;
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmapRos_;
std::shared_ptr<tf2_ros::Buffer> tf_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>>
goalMarkerPublisher_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> planPub_;
// --- control parameters ---
double k_rho_;
double k_alpha_;
double k_betta_;
double pure_spinning_allowed_betta_error_;
double linear_mode_rho_error_threshold_;
const double alpha_offset_ = M_PI;
const double betta_offset_ = 0;
double max_linear_x_speed_; // meters/sec
double max_angular_z_speed_; // rads/sec
double yaw_goal_tolerance_; // radians
double xy_goal_tolerance_; // meters
meter carrot_distance_;
rad carrot_angular_distance_;
meter divergenceDetectionLastCarrotLinearDistance_;
double transform_tolerance_;
rclcpp::Duration waitingTimeout_;
rclcpp::Time waitingStamp_;
// --- controller state ---
bool goalReached_;
bool initialPureSpinningStage_;
bool straightBackwardsAndPureSpinningMode_ = false;
bool enable_obstacle_checking_ = true;
bool inGoalPureSpinningState_ = false;
bool waiting_;
// references the current point inside the backwardsPlanPath were the robot is located
int currentCarrotPoseIndex_;
void generateTrajectory(
const Eigen::Vector3f & pos, const Eigen::Vector3f & vel, float maxdist, float maxangle,
float maxtime, float dt, std::vector<Eigen::Vector3f> & outtraj);
Eigen::Vector3f computeNewPositions(
const Eigen::Vector3f & pos, const Eigen::Vector3f & vel, double dt);
};
} // namespace backward_local_planner
} // namespace cl_nav2z