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Merge pull request #21 from threeal/19-add-navigation-consumer
19 add navigation consumer
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tosshin_cpp/include/tosshin_cpp/navigation/navigation_consumer.hpp
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| // Copyright (c) 2021 Alfi Maulana | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // in the Software without restriction, including without limitation the rights | ||
| // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| // copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in | ||
| // all copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
| // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| // THE SOFTWARE. | ||
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| #ifndef TOSSHIN_CPP__NAVIGATION__NAVIGATION_CONSUMER_HPP_ | ||
| #define TOSSHIN_CPP__NAVIGATION__NAVIGATION_CONSUMER_HPP_ | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <tosshin_interfaces/tosshin_interfaces.hpp> | ||
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| #include <memory> | ||
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| namespace tosshin_cpp | ||
| { | ||
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| using Maneuver = tosshin_interfaces::msg::Maneuver; | ||
| using Odometry = tosshin_interfaces::msg::Odometry; | ||
| using ConfigureManeuver = tosshin_interfaces::srv::ConfigureManeuver; | ||
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| class NavigationConsumer | ||
| { | ||
| public: | ||
| inline NavigationConsumer(); | ||
| inline explicit NavigationConsumer(rclcpp::Node::SharedPtr node); | ||
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| inline void set_node(rclcpp::Node::SharedPtr node); | ||
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| inline const Maneuver & configure_maneuver(const Maneuver & maneuver); | ||
| inline const Maneuver & configure_maneuver_to_stop(); | ||
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| inline void set_maneuver(const Maneuver & maneuver); | ||
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| inline rclcpp::Node::SharedPtr get_node(); | ||
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| inline const Odometry & get_odometry(); | ||
| inline const Maneuver & get_maneuver(); | ||
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| private: | ||
| rclcpp::Node::SharedPtr node; | ||
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| rclcpp::Subscription<Odometry>::SharedPtr odometry_subscription; | ||
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| rclcpp::Subscription<Maneuver>::SharedPtr maneuver_event_subscription; | ||
| rclcpp::Publisher<Maneuver>::SharedPtr maneuver_input_publisher; | ||
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| rclcpp::Client<ConfigureManeuver>::SharedPtr configure_maneuver_client; | ||
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| Odometry current_odometry; | ||
| Maneuver current_maneuver; | ||
| }; | ||
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| NavigationConsumer::NavigationConsumer() | ||
| { | ||
| } | ||
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| NavigationConsumer::NavigationConsumer(rclcpp::Node::SharedPtr node) | ||
| { | ||
| set_node(node); | ||
| } | ||
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| void NavigationConsumer::set_node(rclcpp::Node::SharedPtr node) | ||
| { | ||
| // Initialize the node | ||
| { | ||
| this->node = node; | ||
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| RCLCPP_INFO_STREAM( | ||
| get_node()->get_logger(), | ||
| "Node initialized on " << get_node()->get_name() << "!"); | ||
| } | ||
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| // Initialize the odometry subscription | ||
| { | ||
| odometry_subscription = get_node()->create_subscription<Odometry>( | ||
| "navigation/odometry", 10, | ||
| [this](const Odometry::SharedPtr msg) { | ||
| current_odometry = *msg; | ||
| }); | ||
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| RCLCPP_INFO_STREAM( | ||
| get_node()->get_logger(), | ||
| "Odometry subscription initialized on " << | ||
| odometry_subscription->get_topic_name() << "!"); | ||
| } | ||
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| // Initialize the maneuver event subscription | ||
| { | ||
| maneuver_event_subscription = get_node()->create_subscription<Maneuver>( | ||
| "/navigation/maneuver_event", 10, | ||
| [this](const Maneuver::SharedPtr msg) { | ||
| current_maneuver = *msg; | ||
| }); | ||
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| RCLCPP_INFO_STREAM( | ||
| get_node()->get_logger(), | ||
| "Maneuver event subscription initialized on " << | ||
| maneuver_event_subscription->get_topic_name() << "!"); | ||
| } | ||
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| // Initialize the maneuver input publisher | ||
| { | ||
| maneuver_input_publisher = get_node()->create_publisher<Maneuver>( | ||
| "/navigation/maneuver_input", 10); | ||
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| RCLCPP_INFO_STREAM( | ||
| get_node()->get_logger(), | ||
| "Maneuver input publisher initialized on " << | ||
| maneuver_input_publisher->get_topic_name() << "!"); | ||
| } | ||
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| // Initialize the configure maneuver client | ||
| { | ||
| configure_maneuver_client = get_node()->create_client<ConfigureManeuver>( | ||
| "/navigation/configure_maneuver"); | ||
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| RCLCPP_INFO_STREAM( | ||
| get_node()->get_logger(), | ||
| "Configure maneuver client initialized on " << | ||
| configure_maneuver_client->get_service_name() << "!"); | ||
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| // Request maneuver data | ||
| { | ||
| if (configure_maneuver_client->wait_for_service(std::chrono::seconds(1))) { | ||
| auto request = std::make_shared<ConfigureManeuver::Request>(); | ||
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| configure_maneuver_client->async_send_request( | ||
| request, [this](rclcpp::Client<ConfigureManeuver>::SharedFuture future) { | ||
| auto response = future.get(); | ||
| if (response->maneuver.size() > 0) { | ||
| current_maneuver = response->maneuver.front(); | ||
| } | ||
| }); | ||
| } else { | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| const Maneuver & NavigationConsumer::configure_maneuver(const Maneuver & maneuver) | ||
| { | ||
| if (!configure_maneuver_client->wait_for_service(std::chrono::seconds(1))) { | ||
| throw std::runtime_error("configure maneuver service is not ready"); | ||
| } | ||
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| auto request = std::make_shared<ConfigureManeuver::Request>(); | ||
| request->maneuver.push_back(maneuver); | ||
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| auto future = configure_maneuver_client->async_send_request(request); | ||
| if (rclcpp::spin_until_future_complete(get_node(), future) != rclcpp::FutureReturnCode::SUCCESS) { | ||
| throw std::runtime_error("failed to call configure maneuver service"); | ||
| } | ||
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| auto response = future.get(); | ||
| if (response->maneuver.size() < 1) { | ||
| throw std::runtime_error("maneuver not configured"); | ||
| } | ||
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| current_maneuver = response->maneuver.front(); | ||
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| return current_maneuver; | ||
| } | ||
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| const Maneuver & NavigationConsumer::configure_maneuver_to_stop() | ||
| { | ||
| Maneuver maneuver; | ||
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| maneuver.forward = 0.0; | ||
| maneuver.left = 0.0; | ||
| maneuver.yaw = 0.0; | ||
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| return configure_maneuver(maneuver); | ||
| } | ||
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| void NavigationConsumer::set_maneuver(const Maneuver & maneuver) | ||
| { | ||
| maneuver_input_publisher->publish(maneuver); | ||
| } | ||
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| rclcpp::Node::SharedPtr NavigationConsumer::get_node() | ||
| { | ||
| return node; | ||
| } | ||
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| const Odometry & NavigationConsumer::get_odometry() | ||
| { | ||
| return current_odometry; | ||
| } | ||
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| const Maneuver & NavigationConsumer::get_maneuver() | ||
| { | ||
| return current_maneuver; | ||
| } | ||
|
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| } // namespace tosshin_cpp | ||
|
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| #endif // TOSSHIN_CPP__NAVIGATION__NAVIGATION_CONSUMER_HPP_ |
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