#include <waypoints_navigator.hpp>

Inheritance diagram for cl_nav2z::WaypointNavigator:

Collaboration diagram for cl_nav2z::WaypointNavigator:

Public Member Functions
	WaypointNavigator ()

void	onInitialize () override

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

void	loadWayPointsFromFile (std::string filepath)

void	loadWayPointsFromFile2 (std::string filepath)

void	setWaypoints (const std::vector< geometry_msgs::msg::Pose > &waypoints)

void	setWaypoints (const std::vector< Pose2D > &waypoints)

void	sendNextGoal ()

void	stopWaitingResult ()

const std::vector< geometry_msgs::msg::Pose > &	getWaypoints () const

long	getCurrentWaypointIndex () const

void	rewind (int count)

Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Public Attributes
WaypointEventDispatcher	waypointsEventDispatcher

ClNav2Z *	client_

long	currentWaypoint_

smacc2::SmaccSignal< void()>	onNavigationRequestSucceded

smacc2::SmaccSignal< void()>	onNavigationRequestAborted

smacc2::SmaccSignal< void()>	onNavigationRequestCancelled

Private Member Functions
void	insertWaypoint (int index, geometry_msgs::msg::Pose &newpose)

void	removeWaypoint (int index)

void	onGoalReached (ClNav2Z::WrappedResult &res)

void	onGoalCancelled (ClNav2Z::WrappedResult &)

void	onGoalAborted (ClNav2Z::WrappedResult &)

Private Attributes
std::vector< geometry_msgs::msg::Pose >	waypoints_

std::vector< std::string >	waypointsNames_

boost::signals2::connection	succeddedNav2ZClientConnection_

boost::signals2::connection	abortedNav2ZClientConnection_

boost::signals2::connection	cancelledNav2ZClientConnection_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

ISmaccStateMachine *	getStateMachine ()

Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Definition at line 49 of file waypoints_navigator.hpp.

Constructor & Destructor Documentation

◆ WaypointNavigator()

cl_nav2z::WaypointNavigator::WaypointNavigator ( )

Definition at line 37 of file waypoints_navigator.cpp.

37: currentWaypoint_(0), waypoints_(0) {}

cl_nav2z::WaypointNavigator::waypoints_

std::vector< geometry_msgs::msg::Pose > waypoints_

Definition: waypoints_navigator.hpp:98

cl_nav2z::WaypointNavigator::currentWaypoint_

long currentWaypoint_

Definition: waypoints_navigator.hpp:81

Member Function Documentation

◆ getCurrentWaypointIndex()

long cl_nav2z::WaypointNavigator::getCurrentWaypointIndex ( ) const

Definition at line 189 of file waypoints_navigator.cpp.

189{ return currentWaypoint_; }

References currentWaypoint_.

Referenced by cl_nav2z::CbNavigateNextWaypoint::onEntry().

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◆ getWaypoints()

const std::vector< geometry_msgs::msg::Pose > & cl_nav2z::WaypointNavigator::getWaypoints ( ) const

Definition at line 184 of file waypoints_navigator.cpp.

{
  return waypoints_;
}

References waypoints_.

◆ insertWaypoint()

void cl_nav2z::WaypointNavigator::insertWaypoint	(	int	index,
		geometry_msgs::msg::Pose &	newpose
	)

private

Definition at line 143 of file waypoints_navigator.cpp.

{
  if (index >= 0 && index <= (int)waypoints_.size())
  {
    waypoints_.insert(waypoints_.begin(), index, newpose);
  }
}

References waypoints_.

◆ loadWayPointsFromFile()

void cl_nav2z::WaypointNavigator::loadWayPointsFromFile ( std::string filepath )

Definition at line 192 of file waypoints_navigator.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[WaypointNavigator] Loading file:" << filepath);
  this->waypoints_.clear();
  std::ifstream ifs(filepath.c_str(), std::ifstream::in);
  if (ifs.good() == false)
  {
    throw std::string("Waypoints file not found");
  }
 
  try
  {
#ifdef HAVE_NEW_YAMLCPP
    YAML::Node node = YAML::Load(ifs);
#else
    YAML::Parser parser(ifs);
    parser.GetNextDocument(node);
#endif
 
#ifdef HAVE_NEW_YAMLCPP
    const YAML::Node & wp_node_tmp = node["waypoints"];
    const YAML::Node * wp_node = wp_node_tmp ? &wp_node_tmp : NULL;
#else
    const YAML::Node * wp_node = node.FindValue("waypoints");
#endif
 
    if (wp_node != NULL)
    {
      for (unsigned int i = 0; i < wp_node->size(); ++i)
      {
        // Parse waypoint entries on YAML
        geometry_msgs::msg::Pose wp;
 
        try
        {
          // (*wp_node)[i]["name"] >> wp.name;
          // (*wp_node)[i]["frame_id"] >> wp.header.frame_id;
          wp.position.x = (*wp_node)[i]["position"]["x"].as<double>();
          wp.position.y = (*wp_node)[i]["position"]["y"].as<double>();
          wp.position.z = (*wp_node)[i]["position"]["z"].as<double>();
          wp.orientation.x = (*wp_node)[i]["orientation"]["x"].as<double>();
          wp.orientation.y = (*wp_node)[i]["orientation"]["y"].as<double>();
          wp.orientation.z = (*wp_node)[i]["orientation"]["z"].as<double>();
          wp.orientation.w = (*wp_node)[i]["orientation"]["w"].as<double>();
 
          this->waypoints_.push_back(wp);
        }
        catch (...)
        {
          RCLCPP_ERROR(getLogger(), "parsing waypoint file, syntax error in point %d", i);
        }
      }
      RCLCPP_INFO_STREAM(getLogger(), "Parsed " << this->waypoints_.size() << " waypoints.");
    }
    else
    {
      RCLCPP_WARN_STREAM(getLogger(), "Couldn't find any waypoints in the provided yaml file.");
    }
  }
  catch (const YAML::ParserException & ex)
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what());
  }
}

References smacc2::ISmaccComponent::getLogger(), generate_debs::parser, and waypoints_.

Referenced by sm_dance_bot::OrNavigation::loadWaypointsFromYaml(), sm_dance_bot_strikes_back::OrNavigation::loadWaypointsFromYaml(), and sm_husky_barrel_search_1::OrNavigation::loadWaypointsFromYaml().

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◆ loadWayPointsFromFile2()

void cl_nav2z::WaypointNavigator::loadWayPointsFromFile2 ( std::string filepath )

Definition at line 258 of file waypoints_navigator.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[WaypointNavigator] Loading file:" << filepath);
  this->waypoints_.clear();
  std::ifstream ifs(filepath.c_str(), std::ifstream::in);
  if (ifs.good() == false)
  {
    throw std::string("Waypoints file not found");
  }
 
  try
  {
#ifdef HAVE_NEW_YAMLCPP
    YAML::Node node = YAML::Load(ifs);
#else
    YAML::Parser parser(ifs);
    parser.GetNextDocument(node);
#endif
 
#ifdef HAVE_NEW_YAMLCPP
    const YAML::Node & wp_node_tmp = node["waypoints"];
    const YAML::Node * wp_node = wp_node_tmp ? &wp_node_tmp : NULL;
#else
    const YAML::Node * wp_node = node.FindValue("waypoints");
#endif
 
    if (wp_node != NULL)
    {
      for (unsigned int i = 0; i < wp_node->size(); ++i)
      {
        // Parse waypoint entries on YAML
        geometry_msgs::msg::Pose wp;
 
        try
        {
          // (*wp_node)[i]["name"] >> wp.name;
          // (*wp_node)[i]["frame_id"] >> wp.header.frame_id;
          wp.position.x = (*wp_node)[i]["x"].as<double>();
          wp.position.y = (*wp_node)[i]["y"].as<double>();
          auto name = (*wp_node)[i]["name"].as<std::string>();
 
          this->waypoints_.push_back(wp);
          this->waypointsNames_.push_back(name);
        }
        catch (...)
        {
          RCLCPP_ERROR(getLogger(), "parsing waypoint file, syntax error in point %d", i);
        }
      }
      RCLCPP_INFO_STREAM(getLogger(), "Parsed " << this->waypoints_.size() << " waypoints.");
    }
    else
    {
      RCLCPP_WARN_STREAM(getLogger(), "Couldn't find any waypoints in the provided yaml file.");
    }
  }
  catch (const YAML::ParserException & ex)
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what());
  }
}

References smacc2::ISmaccComponent::getLogger(), generate_debs::parser, waypoints_, and waypointsNames_.

Referenced by sm_aws_warehouse_navigation::OrNavigation::loadWaypointsFromYaml().

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◆ onGoalAborted()

void cl_nav2z::WaypointNavigator::onGoalAborted ( ClNav2Z::WrappedResult & )

private

Definition at line 48 of file waypoints_navigator.cpp.

{
  stopWaitingResult();
 
  this->onNavigationRequestAborted();
}

References onNavigationRequestAborted, and stopWaitingResult().

Referenced by sendNextGoal().

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◆ onGoalCancelled()

void cl_nav2z::WaypointNavigator::onGoalCancelled ( ClNav2Z::WrappedResult & )

private

Definition at line 41 of file waypoints_navigator.cpp.

{
  stopWaitingResult();
 
  this->onNavigationRequestCancelled();
}

References onNavigationRequestCancelled, and stopWaitingResult().

Referenced by sendNextGoal().

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◆ onGoalReached()

void cl_nav2z::WaypointNavigator::onGoalReached ( ClNav2Z::WrappedResult & res )

private

Definition at line 55 of file waypoints_navigator.cpp.

{
  waypointsEventDispatcher.postWaypointEvent(currentWaypoint_);
  currentWaypoint_++;
  RCLCPP_WARN(
    getLogger(), "[WaypointNavigator] Goal result received, incrementing waypoint index: %ld",
    currentWaypoint_);
  stopWaitingResult();
 
  onNavigationRequestSucceded();
}

References currentWaypoint_, smacc2::ISmaccComponent::getLogger(), onNavigationRequestSucceded, cl_nav2z::WaypointEventDispatcher::postWaypointEvent(), stopWaitingResult(), and waypointsEventDispatcher.

Referenced by sendNextGoal().

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◆ onInitialize()

void cl_nav2z::WaypointNavigator::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 39 of file waypoints_navigator.cpp.

39{ client_ = dynamic_cast<ClNav2Z *>(owner_); }

cl_nav2z::WaypointNavigator::client_

ClNav2Z * client_

Definition: waypoints_navigator.hpp:54

smacc2::ISmaccComponent::owner_

ISmaccClient * owner_

Definition: component.hpp:77

References client_, and smacc2::ISmaccComponent::owner_.

◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::WaypointNavigator::onOrthogonalAllocation ( )

inline

Definition at line 61 of file waypoints_navigator.hpp.

  {
    waypointsEventDispatcher.initialize<TSourceObject, TOrthogonal>(client_);
  }

References client_, cl_nav2z::WaypointEventDispatcher::initialize(), and waypointsEventDispatcher.

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◆ removeWaypoint()

void cl_nav2z::WaypointNavigator::removeWaypoint ( int index )

private

Definition at line 176 of file waypoints_navigator.cpp.

{
  if (index >= 0 && index < (int)waypoints_.size())
  {
    waypoints_.erase(waypoints_.begin() + index);
  }
}

References waypoints_.

◆ rewind()

void cl_nav2z::WaypointNavigator::rewind ( int count )

Definition at line 67 of file waypoints_navigator.cpp.

{
  currentWaypoint_--;
  if (currentWaypoint_ < 0) currentWaypoint_ = 0;
}

References currentWaypoint_.

◆ sendNextGoal()

void cl_nav2z::WaypointNavigator::sendNextGoal ( )

Definition at line 83 of file waypoints_navigator.cpp.

{
  if (currentWaypoint_ >= 0 && currentWaypoint_ < (int)waypoints_.size())
  {
    auto & next = waypoints_[currentWaypoint_];
 
    ClNav2Z::Goal goal;
    auto p = client_->getComponent<cl_nav2z::Pose>();
    auto pose = p->toPoseMsg();
 
    // configuring goal
    goal.pose.header.frame_id = p->getReferenceFrame();
    goal.pose.header.stamp = getNode()->now();
    goal.pose.pose = next;
 
    RCLCPP_WARN(getLogger(), "[WaypointsNavigator] Configuring default planners");
    auto plannerSwitcher = client_->getComponent<PlannerSwitcher>();
    plannerSwitcher->setDefaultPlanners();
 
    RCLCPP_WARN(getLogger(), "[WaypointsNavigator] Configuring default goal planner");
    auto goalCheckerSwitcher = client_->getComponent<GoalCheckerSwitcher>();
    goalCheckerSwitcher->setGoalCheckerId("goal_checker");
 
    // publish stuff
    // rclcpp::sleep_for(5s);
 
    RCLCPP_INFO(getLogger(), "[WaypointsNavigator] Getting odom tracker");
    auto odomTracker = client_->getComponent<cl_nav2z::odom_tracker::OdomTracker>();
    if (odomTracker != nullptr)
    {
      RCLCPP_INFO(getLogger(), "[WaypointsNavigator] Storing path in odom tracker");
 
      auto pathname =
        this->owner_->getStateMachine()->getCurrentState()->getName() + " - " + getName();
      odomTracker->pushPath(pathname);
      odomTracker->setStartPoint(pose);
      odomTracker->setWorkingMode(cl_nav2z::odom_tracker::WorkingMode::RECORD_PATH);
    }
 
    // SEND GOAL
    if (!succeddedNav2ZClientConnection_.connected())
    {
      this->succeddedNav2ZClientConnection_ =
        client_->onSucceeded(&WaypointNavigator::onGoalReached, this);
      this->cancelledNav2ZClientConnection_ =
        client_->onAborted(&WaypointNavigator::onGoalCancelled, this);
      this->abortedNav2ZClientConnection_ =
        client_->onCancelled(&WaypointNavigator::onGoalAborted, this);
    }
 
    client_->sendGoal(goal);
  }
  else
  {
    RCLCPP_WARN(
      getLogger(),
      "[WaypointsNavigator] All waypoints were consumed. There is no more waypoints available.");
  }
}

References abortedNav2ZClientConnection_, cancelledNav2ZClientConnection_, client_, currentWaypoint_, smacc2::ISmaccClient::getComponent(), smacc2::ISmaccStateMachine::getCurrentState(), smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::ISmaccState::getName(), smacc2::ISmaccComponent::getNode(), smacc2::ISmaccClient::getStateMachine(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onAborted(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onCancelled(), onGoalAborted(), onGoalCancelled(), onGoalReached(), smacc2::client_bases::SmaccActionClientBase< ActionType >::onSucceeded(), smacc2::ISmaccComponent::owner_, cl_nav2z::odom_tracker::RECORD_PATH, smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal(), cl_nav2z::PlannerSwitcher::setDefaultPlanners(), cl_nav2z::GoalCheckerSwitcher::setGoalCheckerId(), succeddedNav2ZClientConnection_, cl_nav2z::Pose::toPoseMsg(), and waypoints_.

Referenced by cl_nav2z::CbNavigateNextWaypoint::onEntry().

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◆ setWaypoints() [1/2]

void cl_nav2z::WaypointNavigator::setWaypoints ( const std::vector< geometry_msgs::msg::Pose > & waypoints )

Definition at line 151 of file waypoints_navigator.cpp.

{
  this->waypoints_ = waypoints;
}

References waypoints_.

◆ setWaypoints() [2/2]

void cl_nav2z::WaypointNavigator::setWaypoints ( const std::vector< Pose2D > & waypoints )

Definition at line 156 of file waypoints_navigator.cpp.

{
  waypoints_.clear();
  waypointsNames_.clear();
  int i = 0;
  for (auto & p : waypoints)
  {
    geometry_msgs::msg::Pose pose;
    pose.position.x = p.x_;
    pose.position.y = p.y_;
    pose.position.z = 0.0;
    tf2::Quaternion q;
    q.setRPY(0, 0, p.yaw_);
    pose.orientation = tf2::toMsg(q);
 
    waypoints_.push_back(pose);
    waypointsNames_.push_back(std::to_string(i++));
  }
}

References waypoints_, and waypointsNames_.

◆ stopWaitingResult()

void cl_nav2z::WaypointNavigator::stopWaitingResult ( )

Definition at line 73 of file waypoints_navigator.cpp.

{
  if (succeddedNav2ZClientConnection_.connected())
  {
    this->succeddedNav2ZClientConnection_.disconnect();
    this->cancelledNav2ZClientConnection_.disconnect();
    this->abortedNav2ZClientConnection_.disconnect();
  }
}

References abortedNav2ZClientConnection_, cancelledNav2ZClientConnection_, and succeddedNav2ZClientConnection_.

Referenced by cl_nav2z::CbNavigateNextWaypoint::onExit(), onGoalAborted(), onGoalCancelled(), and onGoalReached().

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Member Data Documentation

◆ abortedNav2ZClientConnection_

boost::signals2::connection cl_nav2z::WaypointNavigator::abortedNav2ZClientConnection_

private

Definition at line 103 of file waypoints_navigator.hpp.

Referenced by sendNextGoal(), and stopWaitingResult().

◆ cancelledNav2ZClientConnection_

boost::signals2::connection cl_nav2z::WaypointNavigator::cancelledNav2ZClientConnection_

private

Definition at line 104 of file waypoints_navigator.hpp.

Referenced by sendNextGoal(), and stopWaitingResult().

◆ client_

ClNav2Z* cl_nav2z::WaypointNavigator::client_

Definition at line 54 of file waypoints_navigator.hpp.

Referenced by onInitialize(), onOrthogonalAllocation(), and sendNextGoal().

◆ currentWaypoint_

long cl_nav2z::WaypointNavigator::currentWaypoint_

Definition at line 81 of file waypoints_navigator.hpp.

Referenced by getCurrentWaypointIndex(), onGoalReached(), rewind(), and sendNextGoal().

◆ onNavigationRequestAborted

smacc2::SmaccSignal<void()> cl_nav2z::WaypointNavigator::onNavigationRequestAborted

Definition at line 86 of file waypoints_navigator.hpp.

Referenced by onGoalAborted().

◆ onNavigationRequestCancelled

smacc2::SmaccSignal<void()> cl_nav2z::WaypointNavigator::onNavigationRequestCancelled

Definition at line 87 of file waypoints_navigator.hpp.

Referenced by onGoalCancelled().

◆ onNavigationRequestSucceded

smacc2::SmaccSignal<void()> cl_nav2z::WaypointNavigator::onNavigationRequestSucceded

Definition at line 85 of file waypoints_navigator.hpp.

Referenced by onGoalReached().

◆ succeddedNav2ZClientConnection_

boost::signals2::connection cl_nav2z::WaypointNavigator::succeddedNav2ZClientConnection_

private

Definition at line 102 of file waypoints_navigator.hpp.

Referenced by sendNextGoal(), and stopWaitingResult().

◆ waypoints_

std::vector<geometry_msgs::msg::Pose> cl_nav2z::WaypointNavigator::waypoints_

private

Definition at line 98 of file waypoints_navigator.hpp.

Referenced by getWaypoints(), insertWaypoint(), loadWayPointsFromFile(), loadWayPointsFromFile2(), removeWaypoint(), sendNextGoal(), and setWaypoints().

◆ waypointsEventDispatcher

WaypointEventDispatcher cl_nav2z::WaypointNavigator::waypointsEventDispatcher

Definition at line 52 of file waypoints_navigator.hpp.

Referenced by onGoalReached(), and onOrthogonalAllocation().

◆ waypointsNames_

std::vector<std::string> cl_nav2z::WaypointNavigator::waypointsNames_

private

Definition at line 100 of file waypoints_navigator.hpp.

Referenced by loadWayPointsFromFile2(), and setWaypoints().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/waypoints_navigator/waypoints_navigator.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/waypoints_navigator/waypoints_navigator.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WaypointNavigator()

Member Function Documentation

◆ getCurrentWaypointIndex()

◆ getWaypoints()

◆ insertWaypoint()

◆ loadWayPointsFromFile()

◆ loadWayPointsFromFile2()

◆ onGoalAborted()

◆ onGoalCancelled()

◆ onGoalReached()

◆ onInitialize()

◆ onOrthogonalAllocation()

◆ removeWaypoint()

◆ rewind()

◆ sendNextGoal()

◆ setWaypoints() [1/2]

◆ setWaypoints() [2/2]

◆ stopWaitingResult()

Member Data Documentation

◆ abortedNav2ZClientConnection_

◆ cancelledNav2ZClientConnection_

◆ client_

◆ currentWaypoint_

◆ onNavigationRequestAborted

◆ onNavigationRequestCancelled

◆ onNavigationRequestSucceded

◆ succeddedNav2ZClientConnection_

◆ waypoints_

◆ waypointsEventDispatcher

◆ waypointsNames_