#include <backward_global_planner.hpp>

Inheritance diagram for cl_nav2z::backward_global_planner::BackwardGlobalPlanner:

Collaboration diagram for cl_nav2z::backward_global_planner::BackwardGlobalPlanner:

Public Member Functions
	BackwardGlobalPlanner ()

virtual	~BackwardGlobalPlanner ()
	Virtual destructor.

virtual void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)

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

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

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

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.

Private Member Functions
void	onForwardTrailMsg (const nav_msgs::msg::Path::ConstSharedPtr &trailMessage)

void	publishGoalMarker (const geometry_msgs::msg::Pose &pose, double r, double g, double b)

void	cleanMarkers ()

void	createDefaultBackwardPath (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, std::vector< geometry_msgs::msg::PoseStamped > &plan)

Private Attributes
rclcpp_lifecycle::LifecycleNode::SharedPtr	nh_

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

std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray > >	markersPub_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

double	skip_straight_motion_distance_

double	puresSpinningRadStep_

std::string	name_

std::shared_ptr< tf2_ros::Buffer >	tf_

double	transform_tolerance_

Detailed Description

Definition at line 31 of file backward_global_planner.hpp.

Constructor & Destructor Documentation

◆ BackwardGlobalPlanner()

cl_nav2z::backward_global_planner::BackwardGlobalPlanner::BackwardGlobalPlanner ( )

Constructor()

Definition at line 49 of file backward_global_planner.cpp.

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

References puresSpinningRadStep_, and skip_straight_motion_distance_.

◆ ~BackwardGlobalPlanner()

cl_nav2z::backward_global_planner::BackwardGlobalPlanner::~BackwardGlobalPlanner ( )

virtual

Virtual destructor.

Definition at line 55 of file backward_global_planner.cpp.

55{}

Member Function Documentation

◆ activate()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::activate ( )

virtual

Method to active planner and any threads involved in execution.

activate()

Definition at line 95 of file backward_global_planner.cpp.

{
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner] activating planner");
  planPub_->on_activate();
  markersPub_->on_activate();
}

References markersPub_, nh_, and planPub_.

◆ cleanMarkers()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::cleanMarkers ( )

private

Definition at line 162 of file backward_global_planner.cpp.

{
  visualization_msgs::msg::Marker marker;
  marker.header.frame_id = this->costmap_ros_->getGlobalFrameID();
  marker.header.stamp = nh_->now();
  marker.ns = "my_namespace2";
  marker.id = 0;
  marker.action = visualization_msgs::msg::Marker::DELETEALL;
 
  visualization_msgs::msg::MarkerArray ma;
  ma.markers.push_back(marker);
 
  markersPub_->publish(ma);
}

References costmap_ros_, markersPub_, and nh_.

Referenced by cleanup(), and deactivate().

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◆ cleanup()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::cleanup ( )

virtual

Method to cleanup resources used on shutdown.

cleanup()

Definition at line 88 of file backward_global_planner.cpp.

88{ this->cleanMarkers(); }

cl_nav2z::backward_global_planner::BackwardGlobalPlanner::cleanMarkers

void cleanMarkers()

Definition backward_global_planner.cpp:162

References cleanMarkers().

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◆ configure()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::configure	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	parent,
		std::string	name,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros
	)

virtual

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

initialize()

Definition at line 62 of file backward_global_planner.cpp.

{
  this->nh_ = parent.lock();
  name_ = name;
  tf_ = tf;
  transform_tolerance_ = 0.1;
 
  // RCLCPP_INFO_NAMED(nh_->get_logger(), "Backwards", "BackwardGlobalPlanner initialize");
  costmap_ros_ = costmap_ros;
  // RCLCPP_WARN_NAMED(nh_->get_logger(), "Backwards", "initializating global planner, costmap address: %ld",
  // (long)costmap_ros);
 
  planPub_ = nh_->create_publisher<nav_msgs::msg::Path>("backward_planner/global_plan", 1);
  markersPub_ =
    nh_->create_publisher<visualization_msgs::msg::MarkerArray>("backward_planner/markers", 1);
 
  declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_);
}

References costmap_ros_, declareOrSet(), markersPub_, name_, nh_, planPub_, tf_, and transform_tolerance_.

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◆ createDefaultBackwardPath()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::createDefaultBackwardPath	(	const geometry_msgs::msg::PoseStamped &	start,
		const geometry_msgs::msg::PoseStamped &	goal,
		std::vector< geometry_msgs::msg::PoseStamped > &	plan
	)

private

defaultBackwardPath()

Definition at line 182 of file backward_global_planner.cpp.

{
  auto q = start.pose.orientation;
 
  geometry_msgs::msg::PoseStamped pose;
  pose = start;
 
  double dx = start.pose.position.x - goal.pose.position.x;
  double dy = start.pose.position.y - goal.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 radstep: %lf",
      puresSpinningRadStep_);
    double heading_direction = atan2(dy, dx);
    double startyaw = tf2::getYaw(q);
    double offset = angles::shortest_angular_distance(startyaw, heading_direction);
    heading_direction = startyaw + offset;
 
    prevState =
      cl_nav2z::makePureSpinningSubPlan(start, heading_direction, plan, puresSpinningRadStep_);
    RCLCPP_INFO(nh_->get_logger(), "2 - going forward keep orientation pure straight");
 
    prevState = cl_nav2z::makePureStraightSubPlan(prevState, goal.pose.position, length, plan);
  }
  else
  {
    prevState = start;
  }
 
  RCLCPP_WARN_STREAM(
    nh_->get_logger(), "[BackwardGlobalPlanner] backward global plan size:  " << plan.size());
}

References cl_nav2z::makePureSpinningSubPlan(), cl_nav2z::makePureStraightSubPlan(), nh_, puresSpinningRadStep_, and skip_straight_motion_distance_.

Referenced by createPlan().

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◆ createPlan()

nav_msgs::msg::Path cl_nav2z::backward_global_planner::BackwardGlobalPlanner::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

makePlan()

Definition at line 228 of file backward_global_planner.cpp.

{
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[BackwardGlobalPlanner] goal frame id: "
                         << goal.header.frame_id << " pose: " << goal.pose.position);
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[BackwardGlobalPlanner] goal pose frame id: " << goal.header.frame_id);
 
  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();
 
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[BackwardGlobalPlanner] creating default backward global plan");
  //---------------------------------------------------------------------
  std::vector<geometry_msgs::msg::PoseStamped> plan;
  this->createDefaultBackwardPath(transformedStart, transformedGoal, plan);
 
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner] publishing markers");
  publishGoalMarker(transformedGoal.pose, 1.0, 0, 1.0);
 
  nav_msgs::msg::Path planMsg;
  planMsg.poses = plan;
  planMsg.header.stamp = this->nh_->now();
  planMsg.header.frame_id = this->costmap_ros_->getGlobalFrameID();
 
  //---------------------------------------------------------------------
  // check plan rejection if obstacle is found
  bool acceptedGlobalPlan = true;
 
  RCLCPP_INFO_STREAM(
    nh_->get_logger(), "[BackwardGlobalPlanner] checking backwards trajectory on costmap");
  auto costmap2d = this->costmap_ros_->getCostmap();
  for (auto & p : plan)
  {
    unsigned int 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_WARN_STREAM(
        nh_->get_logger(),
        "[BackwardGlobalPlanner] backwards plan is rejected because interscts the obstacle "
        "inscribed inflated obstacle"
          << " at: " << p.pose.position.x << " " << p.pose.position.y);
 
      break;
    }
  }
 
  if (!acceptedGlobalPlan)
  {
    RCLCPP_WARN_STREAM(
      nh_->get_logger(),
      "[BackwardGlobalPlanner] backward plan request is not accepted, returning "
      "empty path");
    planMsg.poses.clear();
  }
 
  RCLCPP_WARN_STREAM(
    nh_->get_logger(), "[BackwardGlobalPlanner] backward global plan publishing path. poses count: "
                         << planMsg.poses.size());
  planPub_->publish(planMsg);
 
  return planMsg;
}

References costmap_ros_, createDefaultBackwardPath(), nh_, planPub_, publishGoalMarker(), tf_, and transform_tolerance_.

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◆ deactivate()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::deactivate ( )

virtual

Method to deactivate planner and any threads involved in execution.

deactivate()

Definition at line 107 of file backward_global_planner.cpp.

{
  RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner] deactivating planner");
 
  // clear
  nav_msgs::msg::Path planMsg;
  planMsg.header.stamp = nh_->now();
  planPub_->publish(planMsg);
 
  planPub_->on_deactivate();
  this->cleanMarkers();
  markersPub_->on_deactivate();
}

References cleanMarkers(), markersPub_, nh_, and planPub_.

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◆ onForwardTrailMsg()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::onForwardTrailMsg ( const nav_msgs::msg::Path::ConstSharedPtr & trailMessage )

private

◆ publishGoalMarker()

void cl_nav2z::backward_global_planner::BackwardGlobalPlanner::publishGoalMarker	(	const geometry_msgs::msg::Pose &	pose,
		double	r,
		double	g,
		double	b
	)

private

publishGoalMarker()

Definition at line 126 of file backward_global_planner.cpp.

{
  double phi = tf2::getYaw(pose.orientation);
  visualization_msgs::msg::Marker marker;
  marker.header.frame_id = this->costmap_ros_->getGlobalFrameID();
  marker.header.stamp = nh_->now();
  marker.ns = "my_namespace2";
  marker.id = 0;
  marker.type = visualization_msgs::msg::Marker::ARROW;
  marker.action = visualization_msgs::msg::Marker::ADD;
  marker.lifetime = rclcpp::Duration(0s);
  marker.scale.x = 0.1;
  marker.scale.y = 0.3;
  marker.scale.z = 0.1;
  marker.color.a = 1.0;
  marker.color.r = r;
  marker.color.g = g;
  marker.color.b = b;
 
  geometry_msgs::msg::Point start, end;
  start.x = pose.position.x;
  start.y = pose.position.y;
 
  end.x = pose.position.x + 0.5 * cos(phi);
  end.y = pose.position.y + 0.5 * sin(phi);
 
  marker.points.push_back(start);
  marker.points.push_back(end);
 
  visualization_msgs::msg::MarkerArray ma;
  ma.markers.push_back(marker);
 
  markersPub_->publish(ma);
}

References costmap_ros_, markersPub_, and nh_.

Referenced by createPlan().

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Member Data Documentation

◆ costmap_ros_

std::shared_ptr<nav2_costmap_2d::Costmap2DROS> cl_nav2z::backward_global_planner::BackwardGlobalPlanner::costmap_ros_

private

Definition at line 85 of file backward_global_planner.hpp.

Referenced by cleanMarkers(), configure(), createPlan(), and publishGoalMarker().

◆ markersPub_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray> > cl_nav2z::backward_global_planner::BackwardGlobalPlanner::markersPub_

private

Definition at line 83 of file backward_global_planner.hpp.

Referenced by activate(), cleanMarkers(), configure(), deactivate(), and publishGoalMarker().

◆ name_

std::string cl_nav2z::backward_global_planner::BackwardGlobalPlanner::name_

private

Definition at line 96 of file backward_global_planner.hpp.

Referenced by configure().

◆ nh_

rclcpp_lifecycle::LifecycleNode::SharedPtr cl_nav2z::backward_global_planner::BackwardGlobalPlanner::nh_

private

Definition at line 78 of file backward_global_planner.hpp.

Referenced by activate(), cleanMarkers(), configure(), createDefaultBackwardPath(), createPlan(), deactivate(), and publishGoalMarker().

◆ planPub_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path> > cl_nav2z::backward_global_planner::BackwardGlobalPlanner::planPub_

private

Definition at line 80 of file backward_global_planner.hpp.

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

◆ puresSpinningRadStep_

double cl_nav2z::backward_global_planner::BackwardGlobalPlanner::puresSpinningRadStep_

private

Definition at line 94 of file backward_global_planner.hpp.

Referenced by BackwardGlobalPlanner(), and createDefaultBackwardPath().

◆ skip_straight_motion_distance_

double cl_nav2z::backward_global_planner::BackwardGlobalPlanner::skip_straight_motion_distance_

private

Definition at line 92 of file backward_global_planner.hpp.

Referenced by BackwardGlobalPlanner(), and createDefaultBackwardPath().

◆ tf_

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::backward_global_planner::BackwardGlobalPlanner::tf_

private

Definition at line 98 of file backward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ transform_tolerance_

double cl_nav2z::backward_global_planner::BackwardGlobalPlanner::transform_tolerance_

private

Definition at line 100 of file backward_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/backward_global_planner/include/backward_global_planner/backward_global_planner.hpp
smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/src/backward_global_planner/backward_global_planner.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BackwardGlobalPlanner()

◆ ~BackwardGlobalPlanner()

Member Function Documentation

◆ activate()

◆ cleanMarkers()

◆ cleanup()

◆ configure()

◆ createDefaultBackwardPath()

◆ createPlan()

◆ deactivate()

◆ onForwardTrailMsg()

◆ publishGoalMarker()

Member Data Documentation

◆ costmap_ros_

◆ markersPub_

◆ name_

◆ nh_

◆ planPub_

◆ puresSpinningRadStep_

◆ skip_straight_motion_distance_

◆ tf_

◆ transform_tolerance_