stopped_goal_checker.cpp

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#include <cmath>
#include <string>
#include <memory>
#include <limits>
#include <vector>
#include "nav2_controller/plugins/stopped_goal_checker.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_ros_common/node_utils.hpp"

using std::hypot;
using std::fabs;

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

namespace nav2_controller
{

StoppedGoalChecker::StoppedGoalChecker()
: SimpleGoalChecker(), rot_stopped_velocity_(0.25), trans_stopped_velocity_(0.25)
{
}

StoppedGoalChecker::~StoppedGoalChecker()
{
  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 StoppedGoalChecker::initialize(
  const nav2::LifecycleNode::WeakPtr & parent,
  const std::string & plugin_name,
  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
{
  plugin_name_ = plugin_name;
  SimpleGoalChecker::initialize(parent, plugin_name, costmap_ros);

  node_ = parent;
  auto node = node_.lock();
  logger_ = node->get_logger();

  rot_stopped_velocity_ = node->declare_or_get_parameter(
    plugin_name + ".rot_stopped_velocity", 0.25);
  trans_stopped_velocity_ = node->declare_or_get_parameter(
    plugin_name + ".trans_stopped_velocity", 0.25);

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

bool StoppedGoalChecker::isGoalReached(
  const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
  const geometry_msgs::msg::Twist & velocity, const nav_msgs::msg::Path & transformed_global_plan)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  bool ret = SimpleGoalChecker::isGoalReached(query_pose, goal_pose, velocity,
      transformed_global_plan);
  if (!ret) {
    return ret;
  }

  return fabs(velocity.angular.z) <= rot_stopped_velocity_ &&
         hypot(velocity.linear.x, velocity.linear.y) <= trans_stopped_velocity_;
}

bool StoppedGoalChecker::isGoalXYReached(
  const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
  const geometry_msgs::msg::Twist & velocity, const nav_msgs::msg::Path & transformed_global_plan)
{
  return SimpleGoalChecker::isGoalXYReached(query_pose, goal_pose, velocity,
         transformed_global_plan);
}

bool StoppedGoalChecker::getTolerances(
  geometry_msgs::msg::Pose & pose_tolerance,
  geometry_msgs::msg::Twist & vel_tolerance,
  double & path_length_tolerance)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  double invalid_field = std::numeric_limits<double>::lowest();

  // populate the poses
  bool rtn = SimpleGoalChecker::getTolerances(pose_tolerance, vel_tolerance, path_length_tolerance);

  // override the velocities
  vel_tolerance.linear.x = trans_stopped_velocity_;
  vel_tolerance.linear.y = trans_stopped_velocity_;
  vel_tolerance.linear.z = invalid_field;

  vel_tolerance.angular.x = invalid_field;
  vel_tolerance.angular.y = invalid_field;
  vel_tolerance.angular.z = rot_stopped_velocity_;

  path_length_tolerance = path_length_tolerance_;

  return true && rtn;
}

rcl_interfaces::msg::SetParametersResult
StoppedGoalChecker::validateParameterUpdatesCallback(
  const std::vector<rclcpp::Parameter> & parameters)
{
  rcl_interfaces::msg::SetParametersResult result;
  result.successful = true;
  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 (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
StoppedGoalChecker::updateParametersCallback(
  const std::vector<rclcpp::Parameter> & parameters)
{
  std::lock_guard<std::mutex> lock_reinit(mutex_);
  rcl_interfaces::msg::SetParametersResult result;
  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_ + ".rot_stopped_velocity") {
        rot_stopped_velocity_ = parameter.as_double();
      } else if (param_name == plugin_name_ + ".trans_stopped_velocity") {
        trans_stopped_velocity_ = parameter.as_double();
      }
    }
  }
}

}  // namespace nav2_controller

PLUGINLIB_EXPORT_CLASS(nav2_controller::StoppedGoalChecker, nav2_core::GoalChecker)