#include <forward_global_planner.hpp>

Inheritance diagram for cl_nav2z::forward_global_planner::ForwardGlobalPlanner:

Collaboration diagram for cl_nav2z::forward_global_planner::ForwardGlobalPlanner:

Public Types
using	Ptr = std::shared_ptr< ForwardGlobalPlanner >

Public Member Functions
	ForwardGlobalPlanner ()

virtual	~ForwardGlobalPlanner ()
	Virtual destructor. More...

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

virtual void	cleanup ()
	Method to cleanup resources used on shutdown. More...

virtual void	activate ()
	Method to active planner and any threads involved in execution. More...

virtual void	deactivate ()
	Method to deactivate planner and any threads involved in execution. More...

virtual nav_msgs::msg::Path	createPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal)
	Method create the plan from a starting and ending goal. More...

Private Attributes
rclcpp_lifecycle::LifecycleNode::SharedPtr	nh_

std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > >	planPub_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
	stored but almost not used More...

double	skip_straight_motion_distance_

double	puresSpinningRadStep_

std::string	name_

double	transform_tolerance_

std::shared_ptr< tf2_ros::Buffer >	tf_

Detailed Description

Definition at line 33 of file forward_global_planner.hpp.

Member Typedef Documentation

◆ Ptr

using cl_nav2z::forward_global_planner::ForwardGlobalPlanner::Ptr = std::shared_ptr<ForwardGlobalPlanner>

Definition at line 36 of file forward_global_planner.hpp.

Constructor & Destructor Documentation

◆ ForwardGlobalPlanner()

cl_nav2z::forward_global_planner::ForwardGlobalPlanner::ForwardGlobalPlanner ( )

Definition at line 42 of file forward_global_planner.cpp.

{
  skip_straight_motion_distance_ = 0.2;  // meters
  puresSpinningRadStep_ = 1000;          // rads
}

References puresSpinningRadStep_, and skip_straight_motion_distance_.

◆ ~ForwardGlobalPlanner()

cl_nav2z::forward_global_planner::ForwardGlobalPlanner::~ForwardGlobalPlanner ( )

virtual

Virtual destructor.

Definition at line 49 of file forward_global_planner.cpp.

49{}

Member Function Documentation

◆ activate()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::activate ( )

virtual

Method to active planner and any threads involved in execution.

Definition at line 70 of file forward_global_planner.cpp.

70{ planPub_->on_activate(); }

cl_nav2z::forward_global_planner::ForwardGlobalPlanner::planPub_

std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > > planPub_

Definition: forward_global_planner.hpp:84

References planPub_.

◆ cleanup()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::cleanup ( )

virtual

Method to cleanup resources used on shutdown.

Definition at line 68 of file forward_global_planner.cpp.

68{}

◆ configure()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::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

Parameters

parent	pointer to user's node
name	The name of this planner
tf	A pointer to a TF buffer
costmap_ros	A pointer to the costmap

Definition at line 51 of file forward_global_planner.cpp.

{
  nh_ = parent.lock();
  tf_ = tf;
  name_ = name;
  costmap_ros_ = costmap_ros;
 
  RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] initializing");
  planPub_ = nh_->create_publisher<nav_msgs::msg::Path>("global_plan", 1);
  skip_straight_motion_distance_ = 0.2;  // meters
  puresSpinningRadStep_ = 1000;          // rads
  transform_tolerance_ = 0.1;
}

References costmap_ros_, name_, nh_, planPub_, puresSpinningRadStep_, skip_straight_motion_distance_, tf_, and transform_tolerance_.

◆ createPlan()

nav_msgs::msg::Path cl_nav2z::forward_global_planner::ForwardGlobalPlanner::createPlan	(	const geometry_msgs::msg::PoseStamped &	start,
		const geometry_msgs::msg::PoseStamped &	goal
	)

virtual

Method create the plan from a starting and ending goal.

Parameters

start	The starting pose of the robot
goal	The goal pose of the robot

Returns: The sequence of poses to get from start to goal, if any

Definition at line 79 of file forward_global_planner.cpp.

{
  RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] planning");
 
  rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_);
  //---------------------------------------------------------------------
  geometry_msgs::msg::PoseStamped transformedStart;
  nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), start, transformedStart, ttol);
  transformedStart.header.frame_id = costmap_ros_->getGlobalFrameID();
  //---------------------------------------------------------------------
  geometry_msgs::msg::PoseStamped transformedGoal;
  nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), goal, transformedGoal, ttol);
  transformedGoal.header.frame_id = costmap_ros_->getGlobalFrameID();
  //---------------------------------------------------------------------
 
  nav_msgs::msg::Path planMsg;
  std::vector<geometry_msgs::msg::PoseStamped> plan;
 
  // three stages: 1 - heading to goal position, 2 - going forward keep orientation, 3 - heading to goal orientation
 
  // 1 - heading to goal position
  // orientation direction
 
  double dx = transformedGoal.pose.position.x - transformedStart.pose.position.x;
  double dy = transformedGoal.pose.position.y - transformedStart.pose.position.y;
 
  double length = sqrt(dx * dx + dy * dy);
 
  geometry_msgs::msg::PoseStamped prevState;
  if (length > skip_straight_motion_distance_)
  {
    // skip initial pure spinning and initial straight motion
    // RCLCPP_INFO(nh_->get_logger(),"1 - heading to goal position pure spinning");
    double heading_direction = atan2(dy, dx);
    prevState = cl_nav2z::makePureSpinningSubPlan(
      transformedStart, heading_direction, plan, puresSpinningRadStep_);
 
    // RCLCPP_INFO(nh_->get_logger(), "2 - going forward keep orientation pure straight");
    prevState =
      cl_nav2z::makePureStraightSubPlan(prevState, transformedGoal.pose.position, length, plan);
  }
  else
  {
    prevState = transformedStart;
  }
 
  // RCLCPP_INFO(nh_->get_logger(),"3 - heading to goal orientation");
  double goalOrientation = angles::normalize_angle(tf2::getYaw(transformedGoal.pose.orientation));
  cl_nav2z::makePureSpinningSubPlan(prevState, goalOrientation, plan, puresSpinningRadStep_);
  planMsg.poses = plan;
  planMsg.header.stamp = this->nh_->now();
  planMsg.header.frame_id = this->costmap_ros_->getGlobalFrameID();
 
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[Forward Global Planner] generated plan size: " << plan.size());
 
  // check plan rejection
  bool acceptedGlobalPlan = true;
 
  RCLCPP_INFO(
    nh_->get_logger(), "[Forward Global Planner] checking obstacles in the generated plan");
  nav2_costmap_2d::Costmap2D * costmap2d = this->costmap_ros_->getCostmap();
  for (auto & p : plan)
  {
    uint32_t mx, my;
    costmap2d->worldToMap(p.pose.position.x, p.pose.position.y, mx, my);
    auto cost = costmap2d->getCost(mx, my);
 
    // static const unsigned char NO_INFORMATION = 255;
    // static const unsigned char LETHAL_OBSTACLE = 254;
    // static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253;
    // static const unsigned char FREE_SPACE = 0;
 
    if (cost >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)
    {
      RCLCPP_INFO_STREAM(
        nh_->get_logger(), "[Forward Global Planner] pose " << p.pose.position.x << ", "
                                                            << p.pose.position.y
                                                            << " rejected, cost: " << cost);
      acceptedGlobalPlan = false;
      break;
    }
  }
 
  if (acceptedGlobalPlan)
  {
    RCLCPP_INFO_STREAM(
      nh_->get_logger(), "[Forward Global Planner] accepted plan: " << plan.size());
    planPub_->publish(planMsg);
    return planMsg;
  }
  else
  {
    RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] plan rejected");
    planMsg.poses.clear();
    planPub_->publish(planMsg);
    return planMsg;
  }
}

References costmap_ros_, cl_nav2z::makePureSpinningSubPlan(), cl_nav2z::makePureStraightSubPlan(), nh_, planPub_, puresSpinningRadStep_, skip_straight_motion_distance_, tf_, and transform_tolerance_.

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◆ deactivate()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::deactivate ( )

virtual

Method to deactivate planner and any threads involved in execution.

Definition at line 72 of file forward_global_planner.cpp.

{
  nav_msgs::msg::Path planMsg;
  planPub_->publish(planMsg);
  planPub_->on_deactivate();
}

References planPub_.

Member Data Documentation

◆ costmap_ros_

std::shared_ptr<nav2_costmap_2d::Costmap2DROS> cl_nav2z::forward_global_planner::ForwardGlobalPlanner::costmap_ros_

private

stored but almost not used

Definition at line 87 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ name_

std::string cl_nav2z::forward_global_planner::ForwardGlobalPlanner::name_

private

Definition at line 93 of file forward_global_planner.hpp.

Referenced by configure().

◆ nh_

rclcpp_lifecycle::LifecycleNode::SharedPtr cl_nav2z::forward_global_planner::ForwardGlobalPlanner::nh_

private

Definition at line 82 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ planPub_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path> > cl_nav2z::forward_global_planner::ForwardGlobalPlanner::planPub_

private

Definition at line 84 of file forward_global_planner.hpp.

Referenced by activate(), configure(), createPlan(), and deactivate().

◆ puresSpinningRadStep_

double cl_nav2z::forward_global_planner::ForwardGlobalPlanner::puresSpinningRadStep_

private

Definition at line 91 of file forward_global_planner.hpp.

Referenced by configure(), createPlan(), and ForwardGlobalPlanner().

◆ skip_straight_motion_distance_

double cl_nav2z::forward_global_planner::ForwardGlobalPlanner::skip_straight_motion_distance_

private

Definition at line 89 of file forward_global_planner.hpp.

Referenced by configure(), createPlan(), and ForwardGlobalPlanner().

◆ tf_

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::forward_global_planner::ForwardGlobalPlanner::tf_

private

Definition at line 97 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ transform_tolerance_

double cl_nav2z::forward_global_planner::ForwardGlobalPlanner::transform_tolerance_

private

Definition at line 95 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

The documentation for this class was generated from the following files:

smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/include/forward_global_planner/forward_global_planner.hpp
smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/src/forward_global_planner/forward_global_planner.cpp

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ ForwardGlobalPlanner()

◆ ~ForwardGlobalPlanner()

Member Function Documentation

◆ activate()

◆ cleanup()

◆ configure()

◆ createPlan()

◆ deactivate()

Member Data Documentation

◆ costmap_ros_

◆ name_

◆ nh_

◆ planPub_

◆ puresSpinningRadStep_

◆ skip_straight_motion_distance_

◆ tf_

◆ transform_tolerance_