backward_global_planner.hpp

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// Copyright 2025 Robosoft Inc.
//
// 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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <functional>
 
#include <nav2_core/global_planner.hpp>
#include <nav_msgs/msg/path.hpp>
#include <rclcpp/rclcpp.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
 
namespace cl_nav2z
{
namespace backward_global_planner
{
class BackwardGlobalPlanner : public nav2_core::GlobalPlanner
{
public:
  BackwardGlobalPlanner();
 
  virtual ~BackwardGlobalPlanner();
 
  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();
 
  virtual void activate();
 
  virtual void deactivate();
 
  virtual nav_msgs::msg::Path createPlan(
    const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal,
    std::function<bool()> cancel_checker) override;
 
private:
  // rclcpp::Node::SharedPtr nh_;
  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_;
 
  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();
 
  double skip_straight_motion_distance_;  //meters
 
  double puresSpinningRadStep_;  // rads
 
  std::string name_;
 
  std::shared_ptr<tf2_ros::Buffer> tf_;
 
  double transform_tolerance_;
 
  void createDefaultBackwardPath(
    const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal,
    std::vector<geometry_msgs::msg::PoseStamped> & plan);
};
}  // namespace backward_global_planner
}  // namespace cl_nav2z