cb_navigate_global_position.hpp

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// Copyright 2021 RobosoftAI 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 <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <nav2_msgs/action/navigate_to_pose.hpp>
 
#include "cb_nav2z_client_behavior_base.hpp"
 
namespace cl_nav2z
{
struct CbNavigateGlobalPositionOptions
{
  // std::optional<float> yawTolerance;
  // std::optional<float> yawToleranceX;
  // std::optional<float> yawToleranceY;
 
  std::optional<std::string> goalChecker_;
 
  std::optional<std::string> controllerName_;
};
 
class CbNavigateGlobalPosition : public CbNav2ZClientBehaviorBase
{
public:
  float goalYaw;
 
  CbNavigateGlobalPositionOptions options;
  geometry_msgs::msg::Point goalPosition;
 
  CbNavigateGlobalPosition();
 
  CbNavigateGlobalPosition(
    float x, float y, float yaw /*radians*/,
    std::optional<CbNavigateGlobalPositionOptions> options = std::nullopt);
 
  void setGoal(const geometry_msgs::msg::Pose & pose);
 
  virtual void onEntry() override;
 
  // This is the substate destructor. This code will be executed when the
  // workflow exits from this substate (that is according to statechart the moment when this object is destroyed)
  void onExit() override;
 
  // auxiliary function that defines the motion that is requested to the navigation2 action server
  void execute();
 
private:
  void readStartPoseFromParameterServer(nav2_msgs::action::NavigateToPose::Goal & goal);
};
}  // namespace cl_nav2z