pose_progress_checker.cpp

// Copyright (c) 2023 Dexory
//
// 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.

#include "nav2_controller/plugins/pose_progress_checker.hpp"
#include <cmath>
#include <string>
#include <memory>
#include <vector>
#include "angles/angles.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"

using rcl_interfaces::msg::ParameterType;
using std::placeholders::_1;

namespace nav2_controller
{

PoseProgressChecker::~PoseProgressChecker()
{
  auto node = node_.lock();
  if (post_set_params_handler_ && node) {
    node->remove_post_set_parameters_callback(post_set_params_handler_.get());
  }
  post_set_params_handler_.reset();
  if (on_set_params_handler_ && node) {
    node->remove_on_set_parameters_callback(on_set_params_handler_.get());
  }
  on_set_params_handler_.reset();
}

void PoseProgressChecker::initialize(
  const nav2::LifecycleNode::WeakPtr & parent,
  const std::string & plugin_name)
{
  plugin_name_ = plugin_name;
  SimpleProgressChecker::initialize(parent, plugin_name);
  node_ = parent;
  auto node = node_.lock();
  logger_ = node->get_logger();

  required_movement_angle_ = node->declare_or_get_parameter(
    plugin_name + ".required_movement_angle", 0.5);

  // Add callback for dynamic parameters
  post_set_params_handler_ = node->add_post_set_parameters_callback(
    std::bind(
      &PoseProgressChecker::updateParametersCallback,
      this, std::placeholders::_1));
  on_set_params_handler_ = node->add_on_set_parameters_callback(
    std::bind(
      &PoseProgressChecker::validateParameterUpdatesCallback,
      this, std::placeholders::_1));
}

bool PoseProgressChecker::check(geometry_msgs::msg::PoseStamped & current_pose)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  // relies on short circuit evaluation to not call is_robot_moved_enough if
  // baseline_pose is not set.
  if (!baseline_pose_set_ || PoseProgressChecker::isRobotMovedEnough(current_pose.pose)) {
    resetBaselinePose(current_pose.pose);
    return true;
  }
  return clock_->now() - baseline_time_ <= time_allowance_;
}

bool PoseProgressChecker::isRobotMovedEnough(const geometry_msgs::msg::Pose & pose)
{
  return pose_distance(pose, baseline_pose_) > radius_ ||
         poseAngleDistance(pose, baseline_pose_) > required_movement_angle_;
}

double PoseProgressChecker::poseAngleDistance(
  const geometry_msgs::msg::Pose & pose1,
  const geometry_msgs::msg::Pose & pose2)
{
  double theta1 = tf2::getYaw(pose1.orientation);
  double theta2 = tf2::getYaw(pose2.orientation);
  return std::abs(angles::shortest_angular_distance(theta1, theta2));
}

rcl_interfaces::msg::SetParametersResult
PoseProgressChecker::validateParameterUpdatesCallback(
  const std::vector<rclcpp::Parameter> & parameters)
{
  rcl_interfaces::msg::SetParametersResult result;
  result.successful = true;
  for (auto parameter : parameters) {
    const auto & param_type = parameter.get_type();
    const auto & param_name = parameter.get_name();
    if (param_name.find(plugin_name_ + ".") != 0) {
      continue;
    }
    if (param_type == ParameterType::PARAMETER_DOUBLE) {
      if (parameter.as_double() < 0.0) {
        RCLCPP_WARN(
        logger_, "The value of parameter '%s' is incorrectly set to %f, "
        "it should be >=0. Ignoring parameter update.",
        param_name.c_str(), parameter.as_double());
        result.successful = false;
      }
    }
  }
  return result;
}

void
PoseProgressChecker::updateParametersCallback(
  const std::vector<rclcpp::Parameter> & parameters)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  for (const auto & parameter : parameters) {
    const auto & param_type = parameter.get_type();
    const auto & param_name = parameter.get_name();
    if (param_name.find(plugin_name_ + ".") != 0) {
      continue;
    }
    if (param_type == ParameterType::PARAMETER_DOUBLE) {
      if (param_name == plugin_name_ + ".required_movement_angle") {
        required_movement_angle_ = parameter.as_double();
      }
    }
  }
}

}  // namespace nav2_controller

PLUGINLIB_EXPORT_CLASS(nav2_controller::PoseProgressChecker, nav2_core::ProgressChecker)