Program Listing for File collision_monitor_node.hpp

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// Copyright (c) 2022 Samsung R&D Institute Russia
//
// 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.

#ifndef NAV2_COLLISION_MONITOR__COLLISION_MONITOR_NODE_HPP_
#define NAV2_COLLISION_MONITOR__COLLISION_MONITOR_NODE_HPP_

#include <string>
#include <vector>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "visualization_msgs/msg/marker_array.hpp"

#include "tf2/time.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"

#include "nav2_util/lifecycle_node.hpp"
#include "nav2_msgs/msg/collision_monitor_state.hpp"

#include "nav2_collision_monitor/types.hpp"
#include "nav2_collision_monitor/polygon.hpp"
#include "nav2_collision_monitor/circle.hpp"
#include "nav2_collision_monitor/source.hpp"
#include "nav2_collision_monitor/scan.hpp"
#include "nav2_collision_monitor/pointcloud.hpp"
#include "nav2_collision_monitor/range.hpp"

namespace nav2_collision_monitor
{

class CollisionMonitor : public nav2_util::LifecycleNode
{
public:
  explicit CollisionMonitor(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~CollisionMonitor();

protected:
  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;

protected:
  void cmdVelInCallback(geometry_msgs::msg::Twist::ConstSharedPtr msg);
  void publishVelocity(const Action & robot_action);

  bool getParameters(
    std::string & cmd_vel_in_topic,
    std::string & cmd_vel_out_topic,
    std::string & state_topic);
  bool configurePolygons(
    const std::string & base_frame_id,
    const tf2::Duration & transform_tolerance);
  bool configureSources(
    const std::string & base_frame_id,
    const std::string & odom_frame_id,
    const tf2::Duration & transform_tolerance,
    const rclcpp::Duration & source_timeout,
    const bool base_shift_correction);

  void process(const Velocity & cmd_vel_in);

  bool processStopSlowdownLimit(
    const std::shared_ptr<Polygon> polygon,
    const std::vector<Point> & collision_points,
    const Velocity & velocity,
    Action & robot_action) const;

  bool processApproach(
    const std::shared_ptr<Polygon> polygon,
    const std::vector<Point> & collision_points,
    const Velocity & velocity,
    Action & robot_action) const;

  void notifyActionState(
    const Action & robot_action, const std::shared_ptr<Polygon> action_polygon) const;

  void publishPolygons() const;

  // ----- Variables -----

  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;

  std::vector<std::shared_ptr<Polygon>> polygons_;

  std::vector<std::shared_ptr<Source>> sources_;

  // Input/output speed controls
  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_in_sub_;
  rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_out_pub_;

  rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::CollisionMonitorState>::SharedPtr
    state_pub_;

  rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>::SharedPtr
    collision_points_marker_pub_;

  bool process_active_;

  Action robot_action_prev_;
  rclcpp::Time stop_stamp_;
  rclcpp::Duration stop_pub_timeout_;
};  // class CollisionMonitor

}  // namespace nav2_collision_monitor

#endif  // NAV2_COLLISION_MONITOR__COLLISION_MONITOR_NODE_HPP_